Controller Adaptation - Siemens Sinumerik 840D Series Function Manual

02.99
10.03
3.9.6

Controller adaptation

General
Implementation
 Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
Since the natural frequency of the cylinder changes as a function of position, it
may be useful to adapt the position of the velocity controller. The maximum val-
ues coincide with the limits, and the minimum approximately with the center (MD
5160), of the traversing range.
Requirement:
S
NC end has been referenced.
S
Cylinder piston in neutral position has been adjusted as described in Section
3.9.4.
S
Control parameters have been processed according to the relevant operat-
ing range.
Procedure:
S
Optimize the velocity controller (P and D components) with the associated
machine data at the limits and at position set in MD 5160.
Example: (see Fig. 4-11) operating range = total piston stroke
Interpolation point 1 Optimization to A end of cylinder
Interpolation point 2
Interpolation point 3
Note
If one end of a cylinder cannot be approached, then the adaptation process
can be limited to two interpolation points.
S
Velocity controller adaptation active
MD 5413: SPEEDCTRL_ADAPT_ENABLE=1
Note
SPEEDCTRL_ADAPT_ENABLE=1 (MD 5413) is switched through only
when the axis has been referenced and adjusted.
For f (see section 3.9.5), adaptation is deactivated in "Calculate controller


data".
3.9 Fine adjustment and optimization
³ MD 5406: SPEEDCTRL_GAIN_A
³ MD 5431: SPEEDCTRL_DIFF_TIME_A (D gain)
Optimization to piston position as set in
MD 5160: PISTON_POS_MIN_NAT_FREQ
³ MD 5407: SPEEDCTRL_GAIN
³ MD 5432: SPEEDCTRL_DIFF_TIME
Optimization to B end of cylinder
³ MD 5408: SPEEDCTRL_GAIN_B
³ MD 5433: SPEEDCTRL_DIFF_TIME_B (D gain)
3 Startup
(P gain)
(P gain)
(D gain)
(P gain)
3-73