Siemens SINUMERIK 840D sl Programming Manual page 40

Description
2.8 Measurement principle
Calculating the deceleration distance
Figure 2-10
The deceleration path to be considered is calculated as follows:
s
b
v
t
a
Δs
Δs = v / Kv
Kv
Example of calculation:
● v = 6 m/min = 0.1 m/s measuring velocity
● a = 1 m/s
● t = 16 ms signal delay
● Kv = 1 in (m/min)/mm
Intermediate steps:
Δs = v / Kv
Δs
2
40
Distance-time diagram at different measuring velocities according to the calculation
example
Braking distance
Measuring velocity
Delay signal
Deceleration
Following error
Servo gain
deceleration
2
= 6[m/min] / 1[(m/min)/mm]
= v²/2a = 0,1 [m/s]² / 2 · 1 [m/s²]
in mm
in m/s
in s
in m/s
2
in mm
v here in m/min
in (m/min)/mm
= 6 mm Following error
= 5 mm Axis-specific component
Programming Manual, 12/2017, 6FC5398-4BP40-6BA1
Measuring cycles