Force Controller - Siemens Sinumerik 840D Series Function Manual

02.99
10.03
Cylinder friction
force
5234 STICTION_FORCE_POS
Friction force at velocity > 0
Unit: Default:
N 100.0
5235 STICTION_FORCE_NEG
Friction force at velocity < 0
Default:
Unit:
-100.0
N
4.4.3

Force controller

Feedforward
control gain of
force controller
5247 FORCE_FFW_WEIGHT
Feedforward control factor for force controller
Default:
Unit:
100.0
%
 Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
The cylinder friction force at a positive or negative velocity is set in MD 5234
and 5235 respectively.
Minimum: Maximum:
-100000000.0 100000000.0
Allowance must be made for the force of weight applied to the cylinder in MD
5234 (e.g. with a cylinder mounting position other than 0 degrees, MD 5151).
The value to be set can be read in MD 5708 when the cylinder is moved slowly
(e.g. in JOG mode) in the positive direction.
If the force of weight applied to the cylinder varies as a function of load, then
static force injection cannot be utilized.
Minimum: Maximum:
-100000000.0 100000000.0
Allowance must be made for the force of weight applied to the cylinder in
MD 5235 (e.g. with a cylinder mounting position other than 0 degrees,
MD 5151). The value to be set can be read in MD 5708 when the cylinder is
moved slowly (e.g. in JOG mode) in the negative direction.
If the force of weight applied to the cylinder varies as a function of load, then
static force injection cannot be utilized.
Factor for setting the feedforward control gain in the force controller.
Minimum: Maximum:
0.0 120.0
Operative only if force limitation or static friction injection is activated
in MD 5241.
The more accurate the feedforward control setting, the more effective the force
limitation at high velocities.
An excessively high setting can result in continuous switching between force
and velocity controllers.
The area adaptation (MD 5462 and MD 5463) and controlled system gain
(MD 5435) are taken into account by the feedforward control.
4 Firmware Drive Functions
4.4 Closed-loop force control
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
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