Velocity Controller - Siemens Sinumerik 840D Series Function Manual

4 Firmware Drive Functions
4.3 Closed-loop velocity control
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)
Default:
Unit:
0.1
%
4.3.2

Velocity controller

Velocity controller
cycle
5001 SPEEDCTRL_CYCLE_TIME
Velocity controller cycle
Unit: Default:
31.25 µs
4
4-106
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 rate feedforward control path (see
Fig. 4-2). The differential pressure is thus boosted with the velocity setpoint
sign. Fig. 4-10 shows an example of this characteristic and the way that the
associated machine data works (see also Subsection 2.3.1 and Appendix A).
Output
100%
-100%
-100%
Fig. 4-10 Friction compensation characteristic; see also static friction injection
in Subsection 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
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
Related to:
HLA
Data type:
FLOAT
Related to:
HLA
Data type:
FLOAT
MD 5461
Input
100%
Related to:
HLA
Data type:
UNS.WORD
 Siemens AG, 2003. All rights reserved
02.99
10.03
Cross reference: -
Protection level:
3/3
Active:
Immediately
Cross reference: -
Protection level:
3/3
Active:
Immediately
MD 5460
- MD 5461
Cross reference: -
Protection level:
3/3
Active:
Power On