Siemens Sinumerik 840D Series Function Manual page 96

4 Firmware Drive Functions
4.1 Block diagram of closed-loop control
Block diagram of
control functions
Fig. 4-2 Controller and characteristic functions of the HLA module
4-96
Fig.4-2 shows the functionality for velocity and closed-loop force control plus
characteristics implemented in the HLA module.
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
 Siemens AG, 2003. All rights reserved
10.03