ENG_114152.XML
For the closed-loop control of drives and the implementation of basic technological tasks, for SINAMICS S120 the CU320‑2 Control Unit is available for multi-axis applications, and the CU310‑2 Control Unit is available for individual drives.
Sophisticated Motion Control tasks are best supported using the powerful SIMOTION D Control Units (D410‑2, D425‑2, D435‑2, D445‑2, D455‑2) with scaled performance.
Each of these Control Units is based on object-orientated SINAMICS S120 standard firmware, which includes all of the usual V/f control modes, scalable so that even the highest performance requirements can be satisfied.
The following are ready-to-configure drive objects (drive controls):
- The control for a line infeed:
Infeed Control
- The control for the broad scope of rugged asynchronous (induction) motors and torque motors, including sensorless:
Vector Control
- The control for permanent-magnet excited synchronous and servo asynchronous (induction) motors with demanding dynamic requirements:
Servo Control
All these control versions are based on the principle of field-oriented, closed-loop vector control, with a special expansion for reluctance motors.
The most commonly used V/f control modes are stored in the "Vector control" drive object and are ideal for implementing even simple applications such as group drives with synchronous motors.
ENG_114154.XML
Guide to selecting a closed-loop control variant
SINAMICS S closed-loop control properties
Criteria for assessing control quality
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Explanations, definitions
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Rise time
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The rise time is the period which elapses between an abrupt change in a setpoint and the moment the actual value first reaches the tolerance band (2 %) around the setpoint. The dead time is the period which elapses between the abrupt change in the setpoint and the moment the actual value begins to increase. The dead time is partially determined by the read-in, processing and output cycles of the digital closed-loop control. Where the dead time constitutes a significant proportion of the rise time, it must be separately identified.
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Characteristic angular frequency ‑3 dB
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The limit frequency is a measure of the dynamic response of a closed-loop control. A pure sinusoidal setpoint is input to calculate the limit frequency; no part of the control loop must reach the limit. The actual value is measured under steady-state conditions and the ratio between the amplitudes of actual value and setpoint is recorded. -3 dB limit frequency: Frequency at which the absolute value of the actual value drops by 3 dB (to 71 %) for the first time. The closed-loop control can manage frequencies up to this value and remain stable.
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Ripple
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The ripple is the undesirable characteristic of the actual value which is superimposed on the mean value (useful signal). Oscillating torque is another term used in relation to torque. Typical oscillating torques are caused by certain motor slot arrangements, by limited encoder resolution or by the limited resolution of the voltage control of the IGBT power unit. The torque ripple is also reflected in the speed ripple as being indirectly proportional to the mass inertia of the drive.
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Accuracy
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The accuracy defines the magnitude of the average, repeatable deviation between the actual value and setpoint under rated operating conditions. Deviations between the actual value and setpoint are caused by internal inaccuracies in the measuring and control systems. External influencing factors, such as temperature or speed, are not included in the accuracy assessment. The closed-loop and open-loop controls should be optimized with respect to the relevant variable.
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SINAMICS S performance characteristics
Characteristics
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Servo Control
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Vector Control
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V/f control
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Notes
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Typical application
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- Drives with high dynamic motion control
- Angular-locked synchronism with isochronous PROFIBUS/PROFINET in conjunction with SIMOTION
- For use in machine tools and clocked production machines
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- Variable-speed drives with high speed and torque stability in general machinery construction
- Especially suitable for asynchronous motors and reluctance motors
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- Drives with low requirements on dynamic response and accuracy
- Group drives running with a high degree of precision, e.g. on textile machines with synchronous motors
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Mixed operation of Servo Control and Vector Control is not possible on CU320-2. Mixed operation is possible for V/f control modes.
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Dynamic response
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Very high
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High
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Low
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Highest dynamic response with 1FT7/1FT2 High Dynamic synchronous motors and Servo Control.
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Control modes with encoder
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Position control/ Speed control/ Torque control
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Position control/ Speed control/ Torque control
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None
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SIMOTION D with Servo Control is standard for motion control.
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Control modes without encoder
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Speed control
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Speed control/torque control
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All V/f control modes
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With Servo for asynchronous motors only. With V/f control, the speed can be kept constant by means of selectable slip compensation.
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Asynchronous motor
Synchronous motor
Reluctance motor
Torque motor
Linear motor
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Yes
Yes
No
Yes
Yes
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Yes
Yes
Yes
Yes
No
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Yes
No
No
No
No
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V/f control (textiles) is recommended for synchronous motors.
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Permissible ratio of motor rated current to rated current of Motor Module
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1:1 to 1:4
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1.3:1 to 1:4
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1:1 to 1:12
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For Servo Control and Vector Control, maximum control quality up to 1:4. Between 1:4 and 1:8, increasing restrictions regarding torque and rotational accuracy. V/f control is recommended for < 1:8.
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Maximum number of parallel-connected motors per Motor Module
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4
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8
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Unlimited in theory
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Motors with identical power ratings can only be connected in parallel if they are asynchronous motors. With V/f Control, the motors can have different power ratings.
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Setpoint resolution position controller
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31 bit + sign
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31 bit + sign
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–
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Setpoint resolution speed/frequency
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31 bit + sign
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31 bit + sign
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0.001 Hz
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Setpoint resolution torque
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31 bit + sign
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31 bit + sign
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–
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Maximum output frequency
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Values valid for the factory setting High output frequencies can only be achieved when using suitable motors and the appropriate parameterization.
For synchronous motors, observe the voltage limit (2 kV) and use a VPM module.
Only for asynchronous motors: When using edge modulation, 600 Hz is possible at 4 kHz, or 300 Hz at 2 kHz and 200 Hz at 1.25 kHz.
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- For current controller clock
cycle/pulse frequency
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660 Hz 1) with 125 μs/4 kHz
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330 Hz with 250 μs/4 kHz
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400 Hz with 250 μs/4 kHz
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- For current controller clock
cycle/pulse frequency (chassis frame sizes FX and GX)
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330 Hz with 250 μs/2 kHz
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160 Hz with 250 μs/2 kHz
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200 Hz with 250 μs/2 kHz
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- For current controller clock
cycle/pulse frequency (chassis frame sizes HX and JX)
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Not permitted
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100 Hz with 400 μs/1.25 kHz
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100 Hz with 400 μs/1.25 kHz
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Maximum field weakening
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With Servo Control combined with encoder and appropriate special motors, field weakening up to 16 times the field-weakening threshold speed is possible.
These values refer to 1FT7/1FT2 synchronous motors. Note voltage limit (kE factor) for third-party motors.
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5 times
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5 times
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4 times
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2 times
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2 times
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–
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–
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2 times
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–
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1) The high output frequency option is required to enable output frequencies above 550 Hz. For additional information see section Control Units, and on the internet at https://support.industry.siemens.com/cs/document/104020669
Fundamental closed-loop control characteristics of SINAMICS S
- Booksize format, pulse frequency 4 kHz, closed-loop torque control
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Servo Control
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Vector Control
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Notes
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Synchronous motor
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1FT7
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Vector Control is not designed as an operating mode for 1FT7/1FT2 synchronous motors.
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Controller cycle
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125 μs
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Rise time (without delay)
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0.5 ms
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At a speed operating range from 50 r/min for resolver.
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Characteristic angular frequency -3 dB
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900 Hz
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In this case, the dynamic response is determined primarily by the encoder system.
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Torque ripple
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0.6 % of M0
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For a speed operating range of 20 r/min up to rated speed. A ripple of < 1 % is possible with an absolute encoder ≤ 1 r/min. Not possible with resolver.
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Torque accuracy
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± 1.5 % of M0
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Measured value averaged over 3 s. With motor identification and friction compensation. In the torque operating range up to ± M0. 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.
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Asynchronous motor
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1PH8
without encoder
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1PH8
with incremental encoder 1024 S/R
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1PH8
without encoder
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1PH8
with incremental encoder 1024 S/R
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Controller cycle
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125 μs
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125 μs
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250 μs
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250 μs
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Total rise time (without delay)
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–
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0.8 ms
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2 ms
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1.2 ms
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With encoderless operation in speed operating range 1:10, with encoder 50 r/min and above up to rated speed.
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Characteristic angular frequency -3 dB
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–
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600 Hz
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250 Hz
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400 Hz
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With encoderless operation in speed operating range 1:10. The dynamic response is improved when using an encoder (feedback signal).
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Torque ripple
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–
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1.5 % of MN
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2 % of MN
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2 % of MN
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With encoderless operation in speed operating range 1:20, with encoder 20 r/min and above up to rated speed.
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Torque accuracy
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–
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± 3.5 % of MN
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± 2 % of MN
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± 1.5 % of MN
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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 ±MN. 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.
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- Booksize format, pulse frequency 4 kHz, closed-loop speed control
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Servo Control
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Vector Control
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Notes
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Synchronous motor
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1FT7
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Vector Control is not designed as an operating mode for 1FT7/1FT2 synchronous motors.
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Controller cycle
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125 μs
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Total rise time (without delay)
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2.3 ms
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With encoderless operation in speed operating range 1:10, with encoder 50 r/min and above up to rated speed.
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Characteristic angular frequency -3 dB
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250 Hz
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In this case, the dynamic response is determined primarily by the encoder system.
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Speed ripple
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See note
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Determined primarily by the total mass moment of inertia, the torque ripple and especially the mechanical configuration. It is therefore not possible to specify a generally applicable value.
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Speed accuracy
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≤ 0.001 % of nN
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Determined primarily by the resolution of the control deviation and encoder evaluation in the converter. This is implemented on a 32-bit basis for SINAMICS.
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Asynchronous motor
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1PH8
without encoder
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1PH8
with incremental encoder 1024 S/R
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1PH8
without encoder
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1PH8
with incremental encoder 1024 S/R
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Controller cycle
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125 μs
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125 μs
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250 μs
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250 μs
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Total rise time (without delay)
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12 ms
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5 ms
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20 ms
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10 ms
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With encoderless operation in speed operating range 1:10, with encoder 50 r/min and above up to rated speed.
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Characteristic angular frequency -3 dB
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40 Hz
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120 Hz
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50 Hz
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80 Hz
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With encoderless operation in speed operating range 1:10. The dynamic response is enhanced by an encoder feedback. Servo with encoder is slightly more favorable than Vector with encoder, as the speed controller cycle with Servo is quicker.
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Speed ripple
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See note
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See note
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See note
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See note
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Determined primarily by the total mass moment of inertia, the torque ripple and especially the mechanical configuration. It is therefore not possible to specify a generally applicable value.
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Speed accuracy
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0.1 × fslip
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≤ 0.001 % of nN
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0.05 × fslip
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≤ 0.001 % of nN
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Without encoder: Determined primarily by the accuracy of the calculation model for the torque-producing current and rated slip of the asynchronous motor (see table "Typical slip values"). With speed operating range 1:50 (Vector) or 1:10 (Servo) and with activated temperature evaluation.
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- Blocksize, booksize compact, booksize and chassis, pulse frequency 4 kHz, position control
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Servo Control
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Vector Control
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Notes
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Synchronous motor
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1FT7
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Vector Control is not designed as an operating mode for 1FT7/1FT2 synchronous motors.
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Position controller cycle
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1 ms
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Resolution
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4.19×106 incr./rev.
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Correspondingly better with multi-pole resolver.
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Achievable positioning accuracy in relation to the motor shaft
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105 … 106 incr./rev.
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In practice, the resolution must be higher than the required positioning accuracy by a factor of 4 to 10. These values are approximate nominal values only.
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- In relation to the motor shaft, approx.
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0.00072 °
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Asynchronous motor
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1PH8
with AM22DQ
1)
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1PH8
with incremental encoder 1024 S/R
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1PH8
with AM22DQ
1)
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1PH8
with incremental encoder 1024 S/R
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Position controller cycle
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1 ms
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1 ms
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2 ms
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2 ms
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Resolution
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4.19×106 incr./rev.
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4096 incr./rev.
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4.19×106 incr./rev.
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4096 incr./rev.
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Attainable positioning accuracy
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105 … 106 incr./rev.
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1024 incr./rev.
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105 … 106 incr./rev.
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512 incr./rev.
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In practice, the resolution must be higher than the required positioning accuracy by a factor of 4 to 10. These values are approximate nominal values only. Vector is less accurate than servo by a factor of approximately 2.
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- In relation to the motor shaft, approx.
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0.00072 °
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0.35 °
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0.00072 °
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0.7 °
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1) AM22DQ: Absolute encoder 22 bit singleturn (resolution 4194304, encoder-internal 2048 S/R) + 12 bit multiturn (traversing range 4096 revolutions).
- Chassis format, pulse frequency 2 kHz, closed-loop torque control
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Servo Control
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Vector Control
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Notes
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Synchronous motor
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1FT7
without encoder
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1FT7 with AM22DQ
1)
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Vector Control is not designed as an operating mode for 1FT7/1FT2 synchronous motors.
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Controller cycle
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250 μs
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250 μs
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Total rise time (without delay)
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–
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1.2 ms
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Characteristic angular frequency -3 dB
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–
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400 Hz
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In this case, the dynamic response is determined primarily by the encoder system.
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Torque ripple
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–
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1.3 % of M0
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A ripple of < 1 % is possible with an absolute encoder ≤ 1 r/min. Not possible with resolver.
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Torque accuracy
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–
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± 1.5 % of M0
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Measured value averaged over 3 s. With motor identification and friction compensation. In torque operating range up to ± M0. 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.
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Asynchronous motor
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1PH8
without encoder
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1PH8
with incremental encoder 1024 S/R
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1PH8
without encoder
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1PH8
with incremental encoder 1024 S/R
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Controller cycle
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250 μs
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250 μs
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250 μs
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250 μs
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Total rise time (without delay)
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–
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1.6 ms
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2.5 ms
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1.6 ms
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With encoderless operation in speed operating range 1:10, with encoder 50 r/min and above up to rated speed.
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Characteristic angular frequency -3 dB
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–
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350 Hz
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200 Hz
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300 Hz
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With encoderless operation in speed operating range 1:10. The dynamic response is improved when using an encoder (feedback signal).
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Torque ripple
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–
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2 % of MN
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2.5 % of MN
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2 % of MN
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With encoderless operation in speed operating range 1:20, with encoder 20 r/min and above up to rated speed.
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Torque accuracy
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–
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± 3.5 % of MN
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± 2 % of MN
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± 1.5 % of MN
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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 ±MN. 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.
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1) AM22DQ: Absolute encoder 22 bit singleturn (resolution 4194304, encoder-internal 2048 S/R) + 12 bit multiturn (traversing range 4096 revolutions).
- Chassis format, pulse frequency 2 kHz, closed-loop speed control
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Servo Control
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Vector Control
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Notes
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Synchronous motor
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1FT7
without encoder
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1FT7 with AM22DQ
1)
|
Vector Control is not designed as an operating mode for 1FT7/1FT2 synchronous motors.
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Controller cycle
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250 μs
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250 μs
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Total rise time (without delay)
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–
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5 ms
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With encoderless operation in speed operating range 1:10, with encoder 50 r/min and above up to rated speed.
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Characteristic angular frequency -3 dB
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–
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100 Hz
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In this case, the dynamic response is determined primarily by the encoder system.
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Speed ripple
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–
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See note
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Determined primarily by the total mass moment of inertia, the torque ripple and especially the mechanical configuration. It is therefore not possible to specify a generally applicable value.
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Speed accuracy
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–
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≤ 0.001 % of nN
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Determined primarily by the resolution of the control deviation and encoder evaluation in the converter. This is implemented on a 32-bit basis for SINAMICS.
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Asynchronous motor
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1PH8
without encoder
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1PH8
with incremental encoder 1024 S/R
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1PH8
without encoder
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1PH8
with incremental encoder 1024 S/R
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Controller cycle
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250 μs
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250 μs
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250 μs
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250 μs
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Total rise time (without delay)
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21 ms
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8 ms
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20 ms
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12 ms
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With encoderless operation in speed operating range 1:10, with encoder 50 r/min and above up to rated speed.
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Characteristic angular frequency -3 dB
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25 Hz
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80 Hz
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35 Hz
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60 Hz
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For encoderless operation in speed operating range 1:10. The dynamic response is improved when using an encoder (feedback signal). Servo with encoder is slightly more favorable than Vector with encoder, as the speed controller cycle with Servo is quicker.
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Speed ripple
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See note
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See note
|
See note
|
See note
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Determined primarily by the total mass moment of inertia, the torque ripple and especially the mechanical configuration. It is therefore not possible to specify a generally applicable value.
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Speed accuracy
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0.1 × fslip
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≤ 0.001 % of nN
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0.05 × fslip
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≤ 0.001 % of nN
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Without encoder: Determined primarily by the accuracy of the calculation model for the torque-generating current and rated slip of the asynchronous motor (see table "Typical slip values"). For a speed operating range 1: 50 (Vector) or 1:10 (Servo) and with active temperature evaluation.
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1) AM22DQ: Absolute encoder 22 bit singleturn (resolution 4194304, encoder-internal 2048 S/R) + 12 bit multiturn (traversing range 4096 revolutions).
Typical slip values for standard asynchronous motors
Motor output
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Slip values
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Notes
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< 1 kW
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6 % of nN e.g. motor with 1500 r/min: 90 r/min
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The slip values of 1PH asynchronous motors are very similar to those of standard motors
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< 10 kW
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3 % of nN e.g. motor with 1500 r/min: 45 r/min
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< 30 kW
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2 % of nN e.g. motor with 1500 r/min: 30 r/min
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< 100 kW
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1 % of nN e.g. motor with 1500 r/min: 15 r/min
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> 500 kW
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0.5 % of nN e.g. motor with 1500 r/min: 7.5 r/min
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CU320‑2: Axis licensing according to performance expansion (firmware version 4.3 and higher)
The CU320-2 is licensed purely according to axis number. The expanded performance is essentially required with four or more servo axes, four or more vector axes and seven or more V/f axes, irrespective of computing capacity.
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Dynamic response (current controller clock cycle)
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Number of axes without performance enhancement
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Number of axes with performance enhancement
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Note
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Servo Control
|
62.5 μs
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3
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3
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3 servo axes are possible with a cycle time of 62.5 μs. The performance enhancement is therefore ineffective.
The performance enhancement is required with 4 or more servo axes irrespective of computing capacity.
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125 μs
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3
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6
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250 μs
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3
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6
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Vector Control
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250 μs
|
3
|
3
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For 250 μs, 3 vector axes are possible. This means that the performance enhancement is not active.
The performance enhancement is required with 4 or more vector axes irrespective of computing capacity.
|
500 μs
|
3
|
6
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V/f control
|
250 μs
|
6
|
6
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For 250 μs, 6 V/f axes are possible. This means that the performance enhancement is not active.
The performance enhancement is required with 7 or more V/f axes irrespective of computing capacity.
|
500 μs
|
6
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12
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Mixed operation
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Servo Control plus V/f Control
|
125 μs/500 μs
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3+0; 2+2; 1+4; 0+6
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6+0; 5+2; 4+4; 3+6 2+8; 1+10; 0+12
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Two V/f axes can be computed instead of a servo or vector axis.
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Vector Control plus V/f Control
|
500 μs/500 μs
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3+0; 2+2; 1+4; 0+6
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6+0; 5+2; 4+4; 3+6 2+8; 1+10; 0+12
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CU320‑2: Possible quantity structures, maximum configurations
In addition to the number of axes, for example, the following functions and hardware components also have an influence on the possible quantity structure (maximum configuration) of the CU320-2:
- Extended Safety
- EPOS
- DCC
- CAN bus
- High-speed Terminal Modules (task = 250 μs)
The SIZER for Siemens Drives engineering tool (integrated in the TIA Selection Tool) can be used to very quickly perform reliability checks on more complex quantity structures.
Influencing variables on minimum required pulse frequency of power unit
Basic requirements such as maximum speed or necessary dynamic response of the control have a direct effect in determining the minimum pulse frequency of the power unit. If the minimum pulse frequency required exceeds the rated pulse frequency, derating must be implemented accordingly (see section SINAMICS S120 drive system).
The following table provides a general overview.
Influencing variables
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Minimum pulse frequency
|
Notes
|
Servo Control, Vector Control
(required max. output frequency/speed)
|
100 Hz correspond to:
3000 r/min for Zp = 2 1500 r/min for Zp = 4 428 r/min for Zp = 14 352 r/min for Zp = 17
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1.25 kHz
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Z
p is the number of pole pairs of the motor.
This equals 2 on 1PH asynchronous motors. 1FT7/1FT2 synchronous motors have between 3 and 5 pairs of poles. For torque motors, the numbers of pole pairs are typically 14 and 17.
When edge modulation is used (only possible for asynchronous motors), the output frequency is increased by a factor of 2.
|
160 Hz correspond to:
4800 r/min for Zp = 2 2400 r/min for Zp = 4 685 r/min for Zp = 14 565 r/min for Zp = 17
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2 kHz
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200 Hz correspond to:
6000 r/min for Zp = 2 3000 r/min for Zp = 4 856 r/min for Zp = 14 704 r/min for Zp = 17
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2.5 kHz
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300 Hz correspond to:
9000 r/min for Zp = 2 4500 r/min for Zp = 4 1284 r/min for Zp = 14 1056 r/min for Zp = 17
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4 kHz
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400 Hz correspond to:
12000 r/min for Zp = 2 6000 r/min for Zp = 4
|
4 kHz
|
Notice: For Servo Control with 1FT7/1FT2 motors only. Note field weakening requirements and suitable encoder system for higher speeds.
|
V/f control
(required max. output frequency/speed)
|
100 Hz correspond to:
6000 r/min for Zp = 1 3000 r/min for Zp = 2
|
1.25 kHz
|
V/f Control is only intended for asynchronous motors and synchronous motors.
Z
p is the number of pole pairs of the motor.
This is mainly between 1 and 4 on 1LA/1LG standard asynchronous motors. Synchronous motors have 1 or 2 pole pairs or, with larger shaft heights, 3 pairs.
|
160 Hz correspond to:
9600 r/min for Zp = 1 4800 r/min for Zp = 2
|
2 kHz
|
200 Hz correspond to:
12000 r/min for Zp = 1 6000 r/min for Zp = 2
|
2.5 kHz
|
300 Hz correspond to:
18000 r/min for Zp = 1 9000 r/min for Zp = 2
|
4 kHz
|
400 Hz correspond to:
24000 r/min for Zp = 1 12000 r/min for Zp = 2
|
4 kHz
|
Dynamic response requirement (current controller clock cycle)
|
125 μs 250 μs 400 μs 500 μs
|
4 kHz 2 kHz 2.5 kHz 1 kHz
|
Servo Control requires a minimum pulse frequency of 2 kHz.
|
Sine-wave filters
|
–
|
4 kHz
|
Notice: If sine-wave filters are operated at low pulse frequencies, resonance problems can occur and cause the filters to severely overheat.
|
Output reactor to motor
|
Max. frequency: 150 Hz correspond to 4500 r/min for Zp = 2
|
|
The output reactor can be operated at minimum 2 kHz only.
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Core topologies: Component cabling with DRIVE-CLiQ
The components communicate with one another via the standard DRIVE-CLiQ interface.
This couples a Control Unit with the power components, encoders and additional system components, for example Terminal Modules. Setpoints and actual values, control commands, status messages and rating plate data of the components is transferred via DRIVE-CLiQ.
Basic rules for wiring with DRIVE-CLiQ
The following rules apply when wiring components with DRIVE-CLiQ:
- A maximum of 14 nodes can be connected to a DRIVE-CLiQ socket on the CU320-2 Control Unit
- Up to 8 nodes can be connected in a line. A line is always seen from the perspective of the Control Unit
- A maximum of 6 Motor Modules can be operated in a line
- Ring wiring is not permitted
- Components must not be double-wired
- The motor encoder should be connected to the associated Motor Module
- Up to 9 encoders can be operated on one Control Unit
- A maximum of 8 Terminal Modules can be connected
- It is not permissible for the TM54F Terminal Module to be operated on the same DRIVE-CLiQ line as Motor Modules
- The Terminal Modules TM15, TM17 High Feature and TM41 have faster sampling cycles than the TM31 and TM54F. For this reason, the two groups of Terminal Modules must be connected in separate DRIVE-CLiQ lines.
- A DRIVE-CLiQ Hub DMC20/DME20 counts as two nodes
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DRIVE-CLiQ configuration examples
There is a basic clock cycle within a DRIVE-CLiQ connection. For this reason, only combinations of modules with the same sampling cycle or integer-divisible sampling times can be operated on a DRIVE-CLiQ connection. To simplify the configuring process, it is advisable to supply the Line Module and Motor Modules via separate DRIVE-CLiQ connections.
The power components are supplied with the required DRIVE-CLiQ connecting cable for connection to the adjacent DRIVE-CLiQ node in the axis grouping (line topology). Pre-assembled DRIVE-CLiQ cables in various lengths up to 100 m (328 ft) are available for connecting motor encoders, direct measuring encoders, Terminal Modules, etc.
The DRIVE-CLiQ cable connections inside the control cabinet must not exceed 70 m (230 ft) in length, e.g. connection between the CU320‑2 Control Unit and the first Motor Module or between Motor Modules. The maximum permissible length of DRIVE-CLiQ MOTION-CONNECT cables to external components is 100 m (328 ft).
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Example of a line topology for standard solutions
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Example of a tree topology for high-performance solutions, e.g. high-speed axes in direct motion control group, selective access to individual axes/axis groupings for maintenance activities, etc.
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Preferred wiring of DRIVE-CLiQ connections illustrated using booksize format Active Line Module as example: 250 μs current controller clock cycle Motor Modules: 4 × vector control = current controller clock cycle 500 μs
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Wiring illustrated by example of chassis format with different current controller clock cycles
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Example of wiring: Power Modules can also be operated on a CU320-2 when connected via a CUA31