Siemens Sinumerik 840D Series Function Manual page 82

3 Startup
3.11 Start-up functions
Position control
measurement
3-82
20.000
0
Ampl.
[dB]
-60.000
1.000
180.000
Phase
[degrees]
-180.000
1.000
Phase margin at 0 dB
Fig. 3-34 Oscillogram for velocity controller path + controller
Note: Measurement of open velocity controlled system,
indicative of the stability of the control loop.
Target values for stability of control loop:
S
At least 3 dB amplitude margin at 180 degrees
S
At least 60 degrees phase margin at 0 dB
Table 3-6 Measurement types and measured variables for position feedback loop
measurement
Measurement
Reference fre- Position setpoint in position control-
quency response ler cycle,
position control loop closed,
velocity control loop closed
Setpoint step Position setpoint in position control-
change ler cycle,
position control loop closed,
velocity control loop closed
Setpoint ramp
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
Amplitude margin at 180 degrees
log [Hz]
log [Hz]
Trigger Measured quantities
Actual position/position set-
point
Measured variable 1:
Position setpoint
Measured variable 2:
S
Actual position value
S
Control deviation Control deviation
S
Following error
S
Actual velocity value
 Siemens AG, 2003. All rights reserved
02.99
10.03
2000.000
2000.000