Siemens SINAMICS S Manuel page 1169

APC n_load ctrl 1 Kp
0.000...100.000 [Ns/m]
p3760[D] (10.000)
[5030.5]
[5210.1]
-
+
APC n_load ctrl 1 Tv
0.00...500.00 [ms]
p3761[D] (0.00)
[4711.7]
APC n_load ctrl 2 Kp
0.000...100.000 [Ns/m]
p3765[D] (10.000)
APC n_load ctrl 2 Tv
0.00...500.00 [ms]
p3766[D] (0.00)
1 2
DO: SERVO
Technology functions - Advanced Positioning Control (APC, r0108.7 = 1)
Filter 2.1
APC filt 2.1 fn_z APC filt 2.1 D_z APC filt 2.2 fn_z
0.5...16000.0 [Hz] 0.000...10.000 0.5...16000.0 [Hz]
p3723[D] (2000.0) p3724[D] (0.700) p3728[D] (2000.0)
r3772[0]
<1>
+
+
APC filt 2.1 fn_n APC filt 2.1 D_n APC filt 2.2 fn_n
0.5...16000.0 [Hz] 0.050...10.000 0.5...16000.0 [Hz]
p3721[D] (2000.0) p3722[D] (0.700) p3726[D] (2000.0)
Filter 3.1
APC filt 3.1 fn_z APC filt 3.1 D_z APC filt 3.2 fn_z
0.5...16000.0 [Hz] 0.000...10.000 0.5...16000.0 [Hz]
p3733[D] (2000.0) p3734[D] (0.700) p3738[D] (2000.0)
r3773[0]
<1>
+
+
APC filt 3.1 fn_n APC filt 3.1 APC filt 3.2 fn_n
0.5...16000.0 D_n 0.050...10.000 0.5...16000.0 [Hz]
[Hz] p3731[D] (2000.0) p3732[D] (0.700) p3736[D] (2000.0)
3 4
p0115[1] x p3706
<1>
Filter
Filter 2.2
APC filt 2.2 D_z
1.1
0.000...10.000
p3729[D] (0.700)
2.1
2.2
r3772[1]
<1>
3.1
3.2
Filter 1.1
APC filt 1.1 fn_z
APC filt 2.2 D_n
0.5...16000.0 [Hz]
0.050...10.000 p3713[D] (2000.0)
p3727[D] (0.700)
r3777[0]
+
+
p0115[1] x p3707
APC filt 1.1 fn_n
0.5...16000.0 [Hz]
Filter 3.2
p3711[D] (2000.0)
APC filt 3.2 D_z
0.000...10.000
p3739[D] (0.700)
<1>
r3773[1]
APC filt 3.2 D_n
0.050...10.000
p3737[D] (0.700)
5 6
Function diagram
fp_7012_01_eng.vsd
SINAMICS
03.01.06 V02.04.00
p0115[1] (125.00 µs)
APC filter act APC filter type
p3704 p3705
General 2nd Lowpass
active Inactive
order filter (PT2)
Bit 0 = 1 Bit 0 = 0 Bit 0 = 1 Bit 0 = 0
Bit 4 = 1 Bit 4 = 0 Bit 4 = 1
Bit 4 = 0
Bit 5 = 1 Bit 5 = 0 Bit 5 = 1 Bit 5 = 0
Bit 8 = 1 Bit 8 = 0 Bit 8 = 1 Bit 8 = 0
Bit 9 = 0
Bit 9 = 1 Bit 9 = 0 Bit 9 = 1
APC filt 1.1 D_z
0.000...10.000
p3714[D] (0.700)
<1> Filter 1.1 output value
r3777[1]
APC filt 1.1 D_n
Activate APC
0.050...10.000
p3700.0
p3712[D] (0.700)
1
[5030.1]
[5210.1]
0
0
7 8
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