Velocity Controller - Siemens SINUMERIK 840D Description Of Functions

02.99
Friction
5460 FRICTION_COMP_GRADIENT
Gradient of friction compensation characteristic
Unit: Default:
% 0.0
5461 FRICTION_COMP_OUTPUT_RANGE
Effective range of friction compensation (at output)
Unit: Default:
% 0.1
4.3.2

Velocity controller

Velocity controller
cycle
5001 SPEEDCTRL_CYCLE_TIME
Velocity controller cycle
Unit: Default:
31.25 µs
4
 Siemens AG 2000. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
Minimum: Maximum:
0.0 400.0
Minimum: Maximum:
0.1 10.0
In order to reduce the effects of friction, the characteristic gradient is made
steeper around the zero point in the flow feedforward control path (see Fig. 4-2).
The differential pressure is thus boosted with the velocity setpoint sign. Fig. 4-9
shows an example of this characteristic and the mode of action of the associ-
ated machine data (see also Section 2.3.1 and Appendix A).
Output
100%
–100%
–100%
Fig. 4-9 Friction compensation characteristic; see also static friction injection
Section 4.4.2.
Sampling time with which the velocity control loop is calculated.
Minimum: Maximum:
2 16
S
Short cycle: Good dynamic response, but measurement noise from actual
velocity increases.
S
Long cycle: Poor dynamic response, actual velocity values are not
noisy
4 Firmware Drive Functions
4.3 Closed-loop velocity control
Relevant for:
HLA
Data type:
FLOAT
Relevant for:
HLA
Data type:
FLOAT
MD 5461
Input
100%
Relevant for:
HLA
Data type:
UNS.WORD
Cross ref.: –
Protection level:
3/3
Effective:
Immediately
Cross ref.: –
Protection level:
3/3
Effective:
Immediately
MD 5460
– MD 5461
Cross ref.: –
Protection level:
3/3
Effective:
Power On
4-107