Siemens SINUMERIK 840D sl Commissioning Manual page 321

Measuring functions
The following measuring functions are available for measuring the speed control loop:
Measuring type
Reference frequency response (af‐
ter the speed setpoint filter)
Reference frequency response (be‐
fore the speed setpoint filter)
Setpoint step (after the speed set‐
point filter)
Disturbance frequency response
(disturbance after the current set‐
point filter)
Disturbance variable step (disturb‐
ance after the current setpoint filter)
Speed-controlled system (excita‐
tion after the current setpoint filter)
Reference frequency response,
current control loop
APC open control loop *
APC closed control loop *
APC mechanical system *
APC-related inputs appear only when the SINAMICS APC function module is activated. The status of
*)
the APC controller is determined depending on the measurement procedure.
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA
10.5 Measuring functions (manual tuning)
Waveform Measured variable (in‐
put)
PBRS Speed setpoint after the
filter
PBRS Speed setpoint before
the filter
PBRS
● Speed setpoint after
the filter
● Actual torque value
PBRS Torque setpoint (func‐
tion generator)
Jump
● Torque setpoint
(function generator)
● Actual torque value
PBRS Actual torque value
PBRS Speed setpoint after the
filter
PBRS Speed setpoint after the
filter
PBRS Speed setpoint after the
filter
PBRS Actual speed value mo‐
tor encoder
Drive tuning
Measured value (out‐
put)
Actual speed value mo‐
tor
Actual speed value mo‐
tor
Actual speed value mo‐
tor
Actual speed value mo‐
tor
Actual speed value mo‐
tor
Actual speed value mo‐
tor
Torque-generating ac‐
tual current value
APC controller output
(r3777[1])
Actual speed value
from the direct meas‐
urement system
Actual speed value
from the direct meas‐
urement system
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