Siemens SINUMERIK 840D Description Of Functions page 117

04.00
02.99
Force controller
configuration
5241
FORCECTRL_CONFIG [n]
Configuration of force controller
Bit 0= 0: Force limitation 1 from
1: Force limitation 1 on
Bit 1= 0: Static friction injection off
1: Static friction injection on
Bit2= 0: Force limitation 2 off
Bit2= 1: Force limitation 2 on
Unit: Default:
HEX 0
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SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
Input of configuration for force controller:
0...7 index of the parameter set
Minimum: Maximum:
0 6
If a pressure sensor is installed and connected for the pressures at A and B, the
force limitation and/or static friction injection functions
in MD 5241 can be switched on.
Before the force limitation and/or static friction injection is activated, the associ-
ated machine data for force limitation (MD 5230, MD 5231)
or friction force (MD 5234, MD 5235) should be set. These data may contain the
force of weight values and might not be preset correctly by the defaults.
If the cylinder load changes and the force of weight must be held by the cylin-
der, then the static friction injection function cannot be utilized, as the values in
MD 5234 and MD 5235 vary as a function of load.
S
Static friction injection (MD 5241 bit 1=1), see Section 4.4.2.
S
Force limitation 1 (MD 5241 bit 0=1)
Force limitation 1 is always effective, even without FFA (NC function "Travel
to fixed stop"). The force limit is specified in MD 5230. If FFA is active, the
lowest force limitation always takes effect (MD 5230 or
MD 37010 or value from FXST[x]). Reference value (100% value) of force
limit for NC is MD 5725.
If the force level falls below the specified limit, the velocity controller be-
comes active again, even with FFA. This can cause faults with FFA. At
higher velocities, this can also cause continuous alternation between the
force and velocity controller. This mode is therefore only suitable for low ve-
locities (<0.1 @ maximum velocity).
S
Force limitation 2 (MD 5241 bit 2=1)
Force limitation 2 becomes active when the force limit value is exceeded
and FFA is active. In each case, the lowest force limitation becomes active
(MD 5230 or MD 3710 or value from FXST[x]). Reference value (100%
value) of force limit for NC is MD 5725.
Force limitation remains active until the function FFA is deactivated, even if
the force has already fallen below the current force limitation.
4 Firmware Drive Functions
4.4 Closed-loop force control
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
UNS.WORD Immediately
4-117