Siemens SIMODRIVE 611 universal Function Manual page 721

01.99
Details of the The "staircase" waveform is especially significant when optimizing the
"staircase" speed controller.
waveform Depending on how the amplitude is parameterized, the following intere-
sting possibilities are obtained:
S
Fig. 7-6
S
Fig. 7-7
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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
Amplitude = 0 (P1806 = 0)
Benefits:
– Reversing is possible
– The axis stops at the end points
Disadvantages:
– There is play and stiction if there is no offset
– With offset, the axis continually distances itself from the starting
point
Offset
Period
Start
–"–
"Staircase" waveform with amplitude = 0 and offset > amplitude 2
Amplitude 0 0 (P1806 0 0)
Benefits:
– Reversing is possible
– A higher (2nd amplitude) is selected from a basic velocity (ampli-
tude)
– The traversing profile periodically repeats itself.
This means that when optimizing the control loop, the effect can
be immediately monitored, e.g. using an oscilloscope connected
to test sockets DAU1/DAU2.
– The axis always moves through the same distance in each direc-
tion
Ramp–up
time
Period
Start
–"–
"Staircase" waveform with amplitude > 0 and offset = 0
7 Fault Handling/Diagnostics
7.4 Commissioning functions
2nd amplitude
Limiting
–"–
2nd amplitude
Limiting
Amplitude
–"–
7
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