Siemens Sinumerik 840D Series Function Manual page 109

02.99
10.03
I component
5409
SPEEDCTRL_INTEGRATOR_TIME [n]
Reset time of velocity controller
Unit: Default:
ms 50.0
Integrator
feedback
5421
SPEEDCTRL_INTEGRATOR_FEEDBK [n]
Time constant of integrator feedback
Unit: Default:
ms 0.0
 Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
A negative P gain setting may be useful for oscillation damping. Negative gain
settings are permissible. The gain is specified in relation to the drive servo gain
setting. 100% means that if the distance-to-go is equal to the maximum speed
(MD 5440: POS_DRIVE_SPEED_LIMIT, MD 5441:
NEG_DRIVE_SPEED_LIMIT), the full nominal valve voltage will be output as
the P component.
The P gain set in MD 5407 SPEEDCTRL_GAIN is referred to the controlled
system gain set in MD 5435: CONTROLLED_SYSTEM_GAIN.
0...7 index of the parameter set
Minimum: Maximum:
0.0 2000.0
The integral-action component can be deactivated by setting the reset time to
zero. For a negative P gain setting, the reset time is interpreted as a negative
value so that the compensation always acts as negative feedback.
The integrator can be activated/deactivated via the PLC. The current status is
returned to the PLC.
Minimum: Maximum:
0.0 1000.0
The integrator of the velocity controller loop is reduced to a 1st order low-pass
action with the configured time constant via a weighted feedback.
S
Effect:
The output of the velocity controller integrator is limited to a value propor-
tional to the difference between setpoint and actual values (steady-state
proportional action).
S
Applications:
Machining motions for position setpoint zero and dominant static friction can
be suppressed but result in a permanent distance-to-go, e.g. oscillation of
the position-controlled axis at zero speed (stick-slip effect) or overshooting in
the µm-step method.
S
Setting notes:
Optimize this data starting from a high value until you find the best
compromise.
If the time constant integrator feedback v1 ms is set, feedback is disabled.
4 Firmware Drive Functions
4.3 Closed-loop velocity control
Related to:
HLA
Data type:
FLOAT
0...7 index of the parameter set
Related to:
HLA
Data type:
FLOAT
Cross reference: -
Protection level:
3/3
Active:
Immediately
Cross reference: -
Protection level:
3/3
Active:
Immediately
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