Siemens Sinumerik 840D Series Function Manual page 110

4 Firmware Drive Functions
4.3 Closed-loop velocity control
Integrator
feedback
threshold
5422 FEEDBK_SPEED_THRESHOLD
Velocity threshold for integrator feedback
Unit: Default:
mm/min 10.0
D component
(acceleration
feedback)
5430
SPEEDCTRL_PT1_TIME [n]
Velocity controller smoothing time constant
Unit: Default:
ms 0.25
5431
SPEEDCTRL_DIFF_TIME_A [n]
Derivative-action time of velocity controller A (D component)
Unit: Default:
ms 0.0
5432
SPEEDCTRL_DIFF_TIME [n]
Derivative-action time of velocity controller (D component)
Unit: Default:
ms 0.0
5433
SPEEDCTRL_DIFF_TIME_B [n]
Derivative-action time of velocity controller B (D component)
Unit: Default:
ms 0.0
4-110
Velocity below which the integrator feedback takes effect.
Minimum: Maximum:
0.0 120000.0
The integrator feedback function is mainly used when static friction problems
are encountered, i.e. so as to suppress undesirable movements caused by
static friction (slip-stick effect) in position-controlled operation and at zero speed.
MD 5422 can be set to ensure that the integrator feedback is activated only for
low velocity setpoints and stabilizes the axis at zero speed. At high velocities,
however, the effect of the I component is not restricted.
A derivative-action component (acceleration feedback) is implemented in the
controller in addition to the P component. This derivative-action component is
located in the feedback branch. It is set via the derivative-action time. It may be
a negative or positive setting. No D component is active if the D-action time is
set to zero.
0...7 index of the parameter set
Minimum: Maximum:
0.25 100.0
0...7 index of the parameter set
Minimum: Maximum:
-100.0 100.0
0...7 index of the parameter set
Minimum: Maximum:
-100.0 100.0
0...7 index of the parameter set
Minimum: Maximum:
-100.0 100.0
Similar to the P component setting, it is possible to set a D component at the A
and B ends of the cylinder.
Since precise differentiation is not possible, an additional denominator compo-
nent must be provided. This component is set by means of a smoothing time
constant (MD 5430: SPEEDCTRL_PT1_TIME). If the D component is deacti-
vated, then the smoothing constant also ceases to function.
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
Cross reference: -
Related to:
Protection level:
HLA
3/3
Data type: Active:
FLOAT Immediately
Cross reference: -
Related to: Protection level:
HLA 3/3
Data type: Active:
FLOAT Immediately
Cross reference: -
Related to: Protection level:
HLA 3/3
Data type: Active:
FLOAT Immediately
Cross reference: -
Related to: Protection level:
HLA 3/3
Data type: Active:
FLOAT Immediately
Cross reference: -
Related to: Protection level:
HLA 3/3
Data type: Active:
FLOAT Immediately
 Siemens AG, 2003. All rights reserved
02.99
10.03