Siemens SINUMERIK 804D sl Commissioning Manual page 145

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)
Cause of errors/error handling
• Check speed setpoint cable
• Check actual values
• Check position control direction (control sense)
• Threshold value for velocity monitoring is possibly too low.
Contour monitoring
Monitoring of the difference between following error measured and following error calculated
from the position setpoint.
• MD36400 CONTOUR_TOL (Contour monitoring tolerance range)
CNC Part 1 (NCK, PLC, drive)
Commissioning Manual, 11/2006, 6FC5397-2AP10-2BA0
NCK start-up
10.5 Parameterize axis data
145