Siemens SINUMERIK 840D Description Of Functions page 108

4 Firmware Drive Functions
4.3 Closed-loop velocity control
Adaptation of
P and D
components
5413 SPEEDCTRL_ADAPT_ENABLE
Selection of velocity controller adaptation
Unit: Default:
– 0
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SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
Recommended setting:
Increase cycle time for measuring system with wide scale graduations or where
derivative action time of D component is large.
Adaptation of the P and D components is recommended in cases where the
natural frequency of the servo solenoid valve is higher than that of the drive.
Minimum: Maximum:
0 1
Precondition: Adaptation can be selected only zero calibration of cylinder piston,
see Section 3.9.4.
The adaptation is activated (bit 0=1) or deactivated (bit 0=0) depending on the
setting in MD 5413: SPEEDCTRL_ADAPT_ENABLE. If adaptation is deacti-
vated, machine data MD 5407: SPEEDCTRL_GAIN and MD 5430:
SPEEDCTRL_PT1_TIME apply.
S
Adaptation ON (see Fig. 4-10)
MD 5406: SPEEDCTRL_GAIN_A and MD 5408: SPEEDCTRL_GAIN_B are
programmed to define the P gain and MD 5431:
SPEEDCTRL_DIFF_TIME_A and MD 5433: SPEEDCTRL_DIFF_TIME_B
to define the derivative-action time (D component) at the A and B ends of
the cylinder.
MD 5407: SPEEDCTRL_GAIN and MD 5432: SPEEDCTRL_DIFF_TIME
act on the position set in MD 5160: PISTON_POS_MIN_NAT_FREQ.
S
Adaptation OFF
MD 5407: SPEEDCTRL_GAIN and MD 5432: SPEEDCTRL_DIFF_TIME
are active over the entire range,
The natural frequency of the drive varies as a function of distance. Extreme val-
ues occur at the two limits and in the approximate center (MD 5160) of the tra-
versing range. It may therefore be useful to adapt the velocity controller position
(P and D components), with the extreme range limits specified as interpolation
points.
The adaptation function can be activated or deactivated.
If the piston zero has not been calibrated, the adaptation will not be operative,
even if it is activated.
When adaptation is active, the P gain and D-action component of the velocity
controller are interpolated linearly between two points.
"Calculate controller data" alters the settings for the controllers and the adapta-
tion selection.
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
UNS.WORD Immediately
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