Siemens SINUMERIK 840D Description Of Functions page 111

02.99
Integrator
feedback
threshold
5422 FEEDBK_SPEED_THRESHOLD
Integrator feedback velocity threshold
Unit: Default:
mm/min 10.0
D component
(acceleration
feedback)
5430
SPEEDCTRL_PT1_TIME [n]
Velocity controller smoothing time constant
Unit: Default:
ms 0.25
5431
SPEEDCTRL_DIFF_TIME_A [n]
Velocity controller A derivative-action time (D component)
Unit: Default:
ms 0.0
5432
SPEEDCTRL_DIFF_TIME [n]
Velocity controller derivative-action time (D component)
Unit: Default:
ms 0.0
5433
SPEEDCTRL_DIFF_TIME_B [n]
Velocity controller B derivative-action time (D component)
Unit: Default:
ms 0.0
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SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
Velocity below which the integrator feedback becomes operative.
Minimum: Maximum:
0.0 120000.0
The integrator feedback function is mainly used when static friction problems
are encountered, i.e. so as to suppress undesirable movements caused by
static friction (slip-stick effect) in position-controlled operation and at zero speed.
MD 5422 can be set to ensure that the integrator feedback is activated only at
low velocity setpoints and stabilizes the axis at zero speed. At high velocities,
however, the effect of the I component is not restricted.
A derivative-action component (acceleration feedback) is implemented in the
controller in addition to the P component. This D component lies in the feedback
branch and is set as a function of the derivative-action time. It may be a nega-
tive or positive setting. No D component is active if the D-action time is set to
zero.
0...7 index of the parameter set
Minimum: Maximum:
0.25 100.0
0...7 index of the parameter set
Minimum: Maximum:
–100.0 100.0
0...7 index of the parameter set
Minimum: Maximum:
–100.0 100.0
0...7 index of the parameter set
Minimum: Maximum:
–100.0 100.0
Similar to the P component setting, it is possible to set a D component at the A
and B ends of the cylinder.
Since precise differentiation is not possible, an additional denominator compo-
nent must be provided. This component is set by means of a smoothing time
constant (MD 5430: SPEEDCTRL_PT1_TIME). If the D component is deacti-
vated, then the smoothing constant also ceases to function.
4 Firmware Drive Functions
4.3 Closed-loop velocity control
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Immediately
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Immediately
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Immediately
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Immediately
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Immediately
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