Hello,

please do a trace, to analyse your behavior. Maybe you have an active load.

Trace parameter:

TO_70m1.position

TO_70m1.actualposition

TO_70m1.velocity

TO_70m1.actualvelocity

Hello,

something is wrong with your configuration.

Try to move with drive control pannel, and compare values between TO and drive.

Actual velocity and speed on drive side and position change depending on velocity.

May be encoder configuration or referencevalues are wrong.

Here is an example project:

https://support.industry.siemens.com/cs/de/en/view/81666970

Hello,

set your ramo up/down time in the ramp function generator of the drive to 0.

Then try to move with drive control panel. When this is OK use TO control panel and set precontrol to 100% and Kv = 10;

Hello, 

yes, set p1120/1121=0.

Hello,

it is not necessary and possible to reset r482, manually.

It is reseted after every power OFF.

You can do MC_Home if necessary.

Hello,

the TO handles the overflow.

The positionvalue will not go to 0.

Hello,

you can use TO for servo and vector.

When you use no TO, you have to handle the overflow.

Hello,

you could trace TO.velocity setpoint and actualspeed. This is the total speed setpoint from TO and the speed measured on drive. 

https://support.industry.siemens.com/cs/de/en/view/109770664

Because the not isochronous operation of G120, jitter can cause spikes in actual velocity.

I would use 4ms for MC-Servo and 100% Pre control. Then you can use smaller Kv.

Hello,

your max speed on drive is limited to 1500 U/min  => 9000 degree/s     . P1082.

The speedsetpoint from the TO is higher because the positioncontroller and the following error.

Please increase P1082.

And I guess there is a delay. Set the ramp up time to 0.

Hello,

P2000 = 1500 U/min = 100%

Maximum = 200% for setpoint. So no change is necessary.

In the trace you see delay between command speed and actual speed??

Hello,

on TO please use 100% precontrol:

Please do a trace on drive with trigger on r1114, to analyse where the delay come from and what is the  speedsetpoint on drive side.

Trace parameter r1114; r1170; r61;

When drive doesn't follow the setpoint:

To improve the control behavior, you could use Vectorcontrol with sensor on drive.