Position Control Loop (Axis And Spindle) - Measurement Parameters (9 Basic Settings - As From Sw 3) - Siemens SINUMERIK 840C Installation Instructions Manual

9 Drive Servo Start-Up Application (as from SW 3)
9.2.6 Position control loop (axis and spindle) – measurement parameters (9 basic settings – as from SW 3)
9.2.6 Position control loop (axis and spindle) – measurement
parameters (9 basic settings – as from SW 3)
Overview of types The types of measurement listed below are not dependent on the drive used.
of measurement Various variables can be measured depending on the measurement type
selected.
D 1st measured type: Frequency response
The frequency response measurement determines the response of the position
control loop in the frequency range. The balancing filter, KV value and feedfor-
ward control must be parameterized such that resonance is avoided wherever
possible over the entire frequency range. Excessive resonance requires
S
S
In the case of dips in the frequency response, the setting of the feedforward
balancing filter should be reduced. If these measures do not lead to an improve-
ment, then the setpoint can be rounded by means of a smoothing filter. The
effects of this filter can be checked in the test functions in the time range (step
and ramp stimulation).
You can select the menu with the parameters for measuring the position control
Meas.
loop with this softkey.
parameter
Note You enter the measurement parameters in the selected display. These parame-
ters are managed internally as configuration data rather than machine data, i.e.
they are not initialized when the machine runs up. Data can be input in two diffe-
rent ways:
S
S
S
Measurement
parameter settings
S
S
9–20
Type of Measured quantity
measurement
1.) Frequency re-
sponse
2.) Setpoint step
change
3.) Setpoint ramp
increase in balancing filter
decrease in KV value
Manual input
Input by loading of an existing, complete data set with the aid of file functions
Amplitude
This parameter determines the magnitude of the test signal amplitude.
Offset
The measurement requires a small speed offset of a few motor revolutions
per minute. The offset value must be set higher than the amplitude value.
Bandwidth
Setting of frequency range to be analyzed (must not exceed a value corres-
ponding to half the speed controller sampling frequency). The lower this va-
lue, the finer the frequency resolution will be and the longer the measurement
time.
f
sampl.
max.band width +
2
e.g. 0.5 kHz with position controller sampling time of 2 ms.
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Measured quantity
Position actual Following error
value
analog / 611D –
analog / 611D analog / 611D
analog / 611D analog / 611D
1
+
2 x t
sampl.
09.95
07.97
Measured
quantity
Speed actual
value
–
analog / 611D
analog / 611D
SINUMERIK 840C (IA)