Siemens SINUMERIK 840D sl Commissioning Manual page 154

NCK start-up
10.5 Parameterize axis data
Figure 10-17 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.
Actual velocity monitoring
Monitoring due to the actual velocity of the machine axis determined based on the encoder
values
● MD36020 AX_VELO_LIMIT (velocity for monitoring threshold)
Error response
● Alarm: "25030 Alarm limit of actual velocity"
and stopping the machine axis using a speed setpoint ramp whose characteristic is set in
● MD36610 AX_EMERGENCY_STOP_TIME (time for braking ramp when an error occurs)
Remedy
● Check actual values
● Check position control direction (control sense)
● Threshold value for velocity monitoring is possibly too low.
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Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0
IBN CNC: NCK, PLC, drive