Siemens SINUMERIK 840D sl Programming Manual page 39

Calculation of the deceleration path
The deceleration path to be considered is calculated as follows:
sb
v
t
a
Δs
Δs = v / Kv
Kv
Example of calculation:
• v = 6 m/min = 0.1 m/ s measuring velocity
• a = 1 m/s
• t = 16 ms signal delay
• Kv = 1 in (m/min)/mm
The deflection of the probe = deceleration distance to zero speed of axis is:
sb = 12,6 mm.
The deceleration distance components are:
Δs = 6/ 1 = 6 mm
Δs2 = 1000 · 0.01 / 2 + 6 = 11 mm
Δs1 = 1000 · 0.1 · 0.016 = 1.6 mm
Measuring cycles
Programming Manual, Release 04/2006, 6FC5398-4BP10-0BA0
=
b
.
.
Deceleration path
Measuring velocity
Delay signal
Deceleration
Following error
Servo gain
deceleration
2
.
in mm
in m/s
in s
in m/s
2
in mm
v here in m/min
in (m/min)/mm
Following error
axis-specific component
Percentage due to signal delay
General
1.8 Measurement principle
1-23