Siemens SINUMERIK 802D sl Function Manual page 132

Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
7.3 Setpoint/actual-value system
Figure 7-10
Activation
To transfer drive variables to individual system variables you must set the following machine
data:
MD36730 DRIVE_SIGNAL_TRACKING = 1
Table 7- 4
PDA
16
17
18
19
The system variables can be smoothed with a PT1 filter. The filter time constant is defined
using the following MD:
MD32920 AC_FILTER_TIME (smoothing filter time constant for adaptive control)
Specifying 0 seconds for the smoothing time deactivates the filter.
Data formats
The user must take the following points into account with regard to the data formats of the
process data stored in the system variables:
● The PDA is transferred to the telegram in the 16-bit integer without leading sign (UINT16)
● For the physical unit as well as the drive-end weighting of the drive actual values
132
Standard telegram 116 with process data
Specific drive variables
Drive variable
Torque utilization
Smoothed torque setpoint
Smoothed actual active power value
Smoothed, torque-generating actual current
value
format. They are stored in the system variables in the 32-bit integer with leading sign
(INT32) format. During the necessary format conversion, bit 15 of the 16-bit integer PDA
value without leading sign is transferred to bits 16 to 31 of the signed 32-bit integer value
with leading sign in the system variable.
transferred in the additional PDA, please refer to the data description of the specific drive
documentation.
System variable Drive MD
$VA_LOAD[X] r0081[0]
$VA_TORQUE[X] r0079[1]
$VA_POWER[X] r0082[1]
$VA_CURR[X] r0078[1]
Turning, Milling, Nibbling
Function Manual, 11/2012, 6FC5397-1CP10-5BA0