08.2012 Technology Option F01
Siemens AG 6SE7087-6QX70 (Version AN)
SIMOVERT MASTERDRIVES Compendium Motion Control 9-135
9.7.2.8 Setting the parameters for the positioning modes
U953.32 is used to nest the positioning modes [802.8] in a sampling
time. In the factory setting of this parameter (20), the positioning
software does not run (see [702]).
U953.32=4 ; Nest positioning modes in sampling time T4
(=2
4
*T0=16*200µs=3.2 ms with converter frequency 5 kHz)
MDI block numbers 1 and 3 [823], which are selected by the switches
on terminals 3 and 4 (Chapter 3), should be set as follows in our
application example:
MDI block 1:
♦ First G function = 90 (absolute, not relative positioning)
♦ Second G function = 30 (100 % of the acceleration/deceleration
set in MD18/MD19)
♦ Position setpoint (X) = 0 LU
♦ Velocity (F) = 5 000 000 LU/min (equals 500 000°/min =
half the maximum velocity in MD23/2; equals
1389 motor revolutions/min)
The velocity in the MDI block is defined in [10 LU/min] instead of
[1000 LU/min] as in the machine data
U550.01=9030 (WE) ; Absolute positioning, 100 % acceler-
; ation override [823.4]
U550.02=0 (WE) ; Position setpoint X=0 [823.5]
U550.03=500 000 ; Velocity F=5 000 000 LU/min, input in
; [10 LU/min] [823.6]
MDI block 3:
♦ First G function = 90 (absolute not relative positioning)
♦ Second G function = 30 (100 % of the acceleration/deceleration
set in MD18/MD19)
♦ Position setpoint (X) = 16 200 LU (1620° in clockwise direction of
rotation, equals 4.5 revolutions)
♦ Velocity (F) = 1 000 000 LU/min (equals 100 000°/min =
1/10 maximum velocity MD23; equals 277
motor revolutions/min)
U552.01=9030 (WE) ; Absolute positioning, 100 % acceler-
; ation override [823.4]
U552.02=16 200 ; Position setpoint X=16200 LU [823.5]
U552.03=100 000 ; Velocity F=1 000 000 LU/min, input in
; [10 LU/min] [823.6]
Nesting the
positioning modes
in the sampling
time:
NOTE
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