Siemens Sinumerik 840D Series Function Manual page 111

08.99
10.03
Reference model
5414
SPEEDCTRL_REF_MODEL_FREQ [n]
Natural frequency of reference model
Unit: Default:
Hz 150.0
5415
SPEEDCTRL_REF_MODEL_DAMPING [n]
Reference model damping
Unit: Default:
- 0.9
Control output,
velocity controller
5200
NUM_OUTPUT_VCTRL_FIL TERS [n]
Number of control output filters in velocity controller
Unit: Default:
- 0
 Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
0...7 index of the parameter set
Minimum: Maximum:
0.0 1000.0
Minimum: Maximum:
0.4 1.0
The dynamic response of the velocity control loop to control commands without
an I component in the velocity controller is simulated in the reference model. In
the ideal case of exact simulation, there is no deviation after the setpoint/actual
value comparison on the integrator under no-load conditions. In practice, veloc-
ity overshoots in the response to control commands can be reduced in this way.
The reference model is defined by setting the natural frequency (MD5414)
and damping (MD 5415) parameters.
Two control output filters have been implemented. As compared to the current
setpoint filter on electrical drives, the scope of functions has been extended by
the general band stop.
0...7 index of the parameter set
Minimum: Maximum:
0 2
The number of control output filters in the velocity controller is set in MD 5200.
No filters are active by default. Bandstop filters and 2nd-order low pass filters
can be selected and set in MD 5201: OUTPUT_FILTER_CONFIG.
Table 4-1 Selection of number of control output filters in velocity controller
0 No control output filter active
1 Filter 1 active
2 Filters 1 and 2 active
Enter the configuration for 2 control output filters. Bandstops (BS) and low-pass
filters can be selected. The variable filter parameters are entered in the associ-
ated machine data.
Note
The filter machine data must be assigned before the filter type is configured.
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
Related to:
HLA
Data type:
UNS.WORD
Cross reference: -
Protection level:
3/3
Active:
Immediately
Cross reference: -
Protection level:
3/3
Active:
Immediately
Cross reference: -
Protection level:
3/3
Active:
Immediately
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