SINAMICS S120 Functi.. - Gregbotos.com

Extended FunctionsTerminal Module 41 (TM41)General descriptionThe TM41 outputs incremental encoder signals. The signals can be generatedusing a speed value via a process data word (p4400 = 0) or using an encoder positionactual value of a drive (p4400 = 1). The incremental encoder signal can, forexample, be evaluated by a control or other drives.One analog input, 4 digital inputs and 4 bidirectional digital inputs/outputs are available.The can, for example, be used to enter an analog speed setpoint and transfercontrol and status signals – e.g. OFF1/ON, ready or fault.Description (p4400 = 0) incremental encoder emulation using a speed valueExample:A speed setpoint is received via PROFIdrive telegram 3 (r2060), which is interconnectedto p1155. The speed setpoint can be filtered using a (p1414.0) PT2 element(p1417 and p1418) and delayed with a deadtime (p1412). The number of encoderpulses per revolution can be set using parameter p0408. The distance between thezero marks and the position when enabling the A/B tracks (r4402.1) can be enteredinto parameter p4426 and enabled with p4401.0.n_set_filt 1 fn _np1417n_set _filt 1 D_np1418 n_set deadtimep1412Encoder pulse numberp 0408n_ctrl n _set 1p1155(2060 [1])|y|DFormatadaptationTM41PT2 lowpassfDead timeFig. 4-35Block diagram of the incremental encoder emulationDescription (p4400 = 1) incremental encoder emulation using encoder position actualvalueThe encoder position actual value of a drive (r0479) is interconnected to the TM41via a connector input (p4420) and is therefore available at the TM41 as pulseencoder emulation. The signals of the pulse encoder emulation can, for example,be read-in from one control. This means, for example, it is possible to implement aposition controller in the control and to transfer its output as analog speed setpointto the drive. The number of encoder pulses per revolution (p0408) and the fine interpolation(p0418) must be set the same as the drive. The sampling time p4099[3]must be set to the current controller clock cycle (p0115[0]) of the drive. The runtimeof the encoder position actual value up to the pulse encoder emulation can becompensated using the deadtime compensation with p4421. If p4422 = 1, the inputsignal p4420 is inverted.4-292© Siemens AG 2006 All Rights ReservedSINAMICS S120 Function Manual, 03/2006 Edition