Technical data

Drive functions
7.1 Servo control
Function Manual
172 Function Manual, 06/2012, 6SL3097-4AB10-0BP4
Overview of important parameters (see SINAMICS S110 List Manual)
● p1400[0...n] Speed control configuration
● r1407.7 BO: Torque limit reached
● p1520[0...n] CO: Torque limit, upper/motoring
● p1521[0...n] CO: Torque limit, lower/regenerative
● p1522[0...n] CI: Torque limit, upper/motoring
● p1523[0...n] CI: Torque limit, lower/regenerative
● r1526 Torque limit, upper/motoring without offset
● r1527 Torque limit, lower/regenerative without offset
● p1532[0...n] Torque limit offset
● p1542[0...n] CI: Travel to fixed stop, torque reduction
● r1543 CO: Travel to fixed stop, torque scaling
● p1544 Travel to fixed stop, evaluate torque reduction
● p1545[0...n] BI: Activate travel to fixed stop
● p2194[0...n] Torque threshold 2
● p2199.11 BO: Torque utilization < torque threshold value 2
7.1.16 Vertical axes
Description
With a vertical axis without mechanical weight compensation, electronic weight
compensation can be set by offsetting the torque limits (p1532). The torque limits specified in
p1520 and p1521 are shifted by this offset value.
The offset value can be read in r0031 and transferred in p1532.
To reduce compensation once the brake has been released, the torque offset can be
interconnected as a supplementary torque setpoint (p1513). In this way, the holding torque is
set as soon as the brake has been released.
Function diagrams (see SINAMICS S110 List Manual)
● 5060 Torque setpoint, control type switchover
● 5620 Motor/generator torque limit
● 5630 Upper/lower torque limit