Dear experts.

We have a V90 servo installed as per application example: 109743917   SINAMICS V: Position Control with SIMATIC S7-1200 TO and SINAMICS V90 PN (S mode).

We have torque limitation with Telegram 750. Limits are set on program via direct input I/O (scaled 0-100% torque 0-4000H).

Servo must push a load with a defined force. So, actual position will always be less than setpoint position. Because torque limitation prevents the servo from traveling at setted speed.

The issue here is that: when jog command is released, servo tries to reach setpoint with full speed and torque. It does not stay where we released the button.

We tried to set HALT on falling edge of jog command. But it makes nothing, servo still accelerates to reach setpoint.

Any help would be appreciated.

There are often differences between rated torque and short term torque limits.  If you find the short-term limit for your motor(s), you can adjust the torque limit (manually) as a parameter.  At least that is how it works for s120 drives.

Automation_***

Dear experts.

We have a V90 servo installed as per application example: 109743917   SINAMICS V: Position Control with SIMATIC S7-1200 TO and SINAMICS V90 PN (S mode).

We have torque limitation with Telegram 750. Limits are set on program via direct input I/O (scaled 0-100% torque 0-4000H).

Servo must push a load with a defined force. So, actual position will always be less than setpoint position. Because torque limitation prevents the servo from traveling at setted speed.

The issue here is that: when jog command is released, servo tries to reach setpoint with full speed and torque. It does not stay where we released the button.

We tried to set HALT on falling edge of jog command. But it makes nothing, servo still accelerates to reach setpoint.

Any help would be appreciated.

Thank you but, on V90 servos I can only handle one torque variable.

After some tests, still wants to undo the following error on other type of movements (velocity and positioning command).

One workaround is, to disable the MC_Power on falling edge command. Then, motion control Position takes the ActualPosition value. Only remains to enable it again.

I don't really like the idea of disabling / enabling the servo on every part produced.

Hello Automation_***, 

Have you find a solution? i have the same problem...