Siemens SINUMERIK 840Di sl Commissioning Manual page 427

The following machine data is used to define how long the speed setpoint may remain within
the limits before the speed setpoint monitoring responds.
● MD36220 $MA_CTRLOUT_LIMIT_TIME[n] (delay time for speed setpoint monitoring)
Error reaction:
● Alarm "25060 Speed setpoint limiting"
and stopping the machine axis using a speed setpoint ramp whose characteristic curve is set
in the following machine data:
● MD36610 $MA_AX_EMERGENCY_STOP_TIME (braking ramp time when errors occur)
Causes of error/error handling:
● A measuring circuit error or drive error is present.
● Setpoints are too high (accelerations, velocities, reducing factors).
● Obstacle in work area (e.g. positioning on a working table)
The speed setpoint consists of the speed setpoint of the position controller and the
feedforward control parameter (if feedforward control is active).
Figure 11-21 Speed setpoint calculation
NOTICE
The limitation of the speed setpoint will turn the control loop into a nonlinear control loop.
Generally, this will result in deviations from the contour and longer dwelling of the machine
axis within the speed setpoint limitation.
Manual
Commissioning Manual, 05/2008, 6FC5397–4CP10–4BA0
=> Overcome obstacle
NC Commissioning with HMI Advanced
11.5 Axes and spindles
427