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03/2006
Checking the posi-
A storage oscilloscope or the start-up software SIMODRIVE 611D/
tioning response
start-up/drives/servo/servo trace is used to check the positioning response at
different velocities. The speed setpoint is recorded for this purpose.
n
setpt.
[V]
"bad"
selected Kv factor
Fig. 6-16
Speed setpoint curve
No overshoots may occur while the drive is approaching the static states; this
applies to all speed ranges.
The start-up software SIMODRIVE 611D provides additional options for
checking the K
speed and position control loops).
Reasons for over-
S
shooting in the posi-
S
tion control loop
S
S
S
For reasons of safety, the K
maximum permissible value.
Acceleration
The axes are accelerated and braked with the acceleration specified in
MD 32300: MAX_AX_ACCEL. This value should allow the axes to be
accelerated and positioned rapidly and accurately while ensuring that the
machine is not unduly loaded. The acceleration default settings are in the
0.5 m/s
Checking and
The acceleration data entered can be either empirical values or the maximum
permissible acceleration values which the user must calculate. The data must
calculating
always be checked after entry for which the SIMODRIVE 611D start-up software
acceleration
and an oscilloscope are required.
values
Setting
MD 32300: MAX_AX_ACCEL
Identification
Overshoot-free acceleration and positioning with rapid traverse velocity under
maximum load (heavy workpiece).
Measurement
Via analog outputs (section 10) or start-up software for SIMODRIVE 611D.
© Siemens AG 2006 All Rights Reserved
SINUMERIK 840D/810D Start-Up Guide (IADC) – 03/2006 Edition
n
setpt.
[V]
t [ms]
factor (e.g. frequency response measurement, scanning the
V
K
factor is set too high
V
Acceleration too high (current limit is reached)
Rise time too long (re-optimization necessary)
Mechanical backlash
Mechanical components canted
factor should be set slightly lower than the
V
2
2
to 2 m/s
range.
6 Programming the control
6.9
Axes and spindles
"good"
selected Kv factor
t [ms]
6
6-105
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