Siemens SINUMERIK 840Di Manual page 347

06.03
Actual velocity
monitoring
Contour
monitoring
 Siemens AG, 2003. All rights reserved
SINUMERIK 840Di Manual (HBI) – 06.03 Edition
Kv
Following
error
Position controller
Fig. 10-23 Speed setpoint calculation
Notice
The limitation of the speed setpoint will turn the control loop into a nonlinear
control loop.
Generally, this will result in deviations from the contour and longer dwelling of
the machine axis within the speed setpoint limitation.
Monitoring due to the actual velocity of the machine axis determined based on
the encoder values
S
MD 36020: AX_VELO_LIMIT (threshold value for speed monitoring)
Error response
S
Alarm: "25030 Alarm limit of actual velocity"
and stopping the machine axis using a speed setpoint ramp whose
characteristic is set in
S
MD36610: AX_EMERGENCY_STOP_TIME (time of brake ramp in case of
error conditions).
Error causes/remedy
S
Check speed setpoint cable
S
Check actual values
S
Check direction of position control
S
Threshold value for velocity monitoring is possibly too low.
Monitoring of the difference between following error measured and following
error calculated from the position setpoint.
S
MD36400: CONTOUR_TOL (contour monitoring tolerance band)
Error response
S
Alarm: "25050 Contour monitoring"
10 NC Start-Up with HMI Advanced
10.5 Axes and spindles
Feedforward control value
+
Speed
setpoint
monitoring
to speed
controller
10-347