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6 Programming the control
6.9
Axes and spindles
Encoder monitoring
(zero marker
monitoring)
Encoder monitoring
(tolerance for enco-
der switchover)
Setpoints
Setpoint
processing
Interpolator
Control
loop
MD 36400:
model
CONTOUR_TOL
Following error
MD 36000: STOP_LIMIT_COURSE
MD 36010: STOP_LIMIT_FINE
MD 36020: POSITIONING_TIME
MD 36030: STANDSTILL_POS_TO
MD 36040: STANDSTILLL_DELAY_TIME
MD 36050: CLAMP_POS_TOL
Fig. 6-20
Monitoring with SINUMERIK 840D
6-112
MD 36310: ENC_ZERO_MONITORING > 0 activates the zero marker
monitoring. The value indicates the number of pulses that may be lost.
Special feature:
Value = 100, i.e. the hardware monitoring for the encoder is also switched off.
MD 36310: ENC_ZERO_MONITORING (zero marker monitoring)
MD 36610: AX_EMERGENCY_STOP_TIME (duration of the braking ramp in
error states)
Alarm "25020 axis [name] zero marker monitoring".
It is possible to define two actual value branches with SINUMERIK 840D. These
actual values must then, however, be present in the hardware. The actual value
branch which is active for the position control can then be selected via the PLC
interface. When this switchover takes place, the actual position value difference
is evaluated. If this difference is greater than the value entered in MD
36500: ENC_CHANGE_TOL, then "Measuring system changeover not
possible" alarm is generated and the changeover is prevented.
MD 36500 ENC_CHANGE_TOL (max. tolerance for actual position
changeover)
NST "Position measuring system 1" (DB31, ... DBX1.5)
NST "Position measuring system 2" (DB31, ... DBX1.6),
Alarm "25100 axis %1 Measuring system changeover not possible".
Pos.
controller
MD 36500: ENC_CHANGE_TOL
MD 36300: ENC_FREQ_LIMIT
MD 36060:
STSTILL_VELO_TOL
MD 36200:
AX_VELO_LIMIT
IS "Position measuring system 1/2 active"
Note
The time set in MD 36620: SERVO_DISABLE_DELAY_TIME (cut-out delay for
controller enable) should always be larger than the time set in MD 36610:
AX_EMERGENCY_STOP_TIME (duration of the braking ramp for error states).
If this is not the case, the braking ramp in MD 36610 cannot take effect.
SINUMERIK 840D/810D Start-Up Guide (IADC) – 03/2006 Edition
MD 36610: AX_EMERGENCY_STOP_TIME
Braking
Speed
ramp
setpoint
MD 36210: CTRLOUT_LIMIT
MD 36220: CTRLOUT_LIMIT_TIME
MD 36310: ENC_ZERO_MONITORING
Actual value
processing
Actual value
processing
© Siemens AG 2006 All Rights Reserved
03/2006
Drive
SIMODRIVE
611D
Drive
SIMODRIVE
611D
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