Velocity Controller - Siemens Sinumerik 840D Series Function Manual
Hla module
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4 Firmware Drive Functions
4.3 Closed-loop velocity control
Friction
5460
FRICTION_COMP_GRADIENT
Gradient of friction compensation characteristic
Unit:
Default:
%
0.0
5461
FRICTION_COMP_OUTPUT_RANGE
Effective range of friction compensation (at output)
Default:
Unit:
0.1
%
4.3.2
Velocity controller
Velocity controller
cycle
5001
SPEEDCTRL_CYCLE_TIME
Velocity controller cycle
Unit:
Default:
31.25 µs
4
4-106
Minimum:
Maximum:
0.0
400.0
Minimum:
Maximum:
0.1
10.0
In order to reduce the effects of friction, the characteristic gradient is made
steeper around the zero point in the flow rate feedforward control path (see
Fig. 4-2). The differential pressure is thus boosted with the velocity setpoint
sign. Fig. 4-10 shows an example of this characteristic and the way that the
associated machine data works (see also Subsection 2.3.1 and Appendix A).
Output
100%
-100%
-100%
Fig. 4-10
Friction compensation characteristic; see also static friction injection
in Subsection 4.4.2.
Sampling time with which the velocity control loop is calculated.
Minimum:
Maximum:
2
16
S
Short cycle: Good dynamic response, but measurement noise from actual
velocity increases.
S
Long cycle: Poor dynamic response, actual velocity values are not noisy
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
Related to:
HLA
Data type:
FLOAT
Related to:
HLA
Data type:
FLOAT
MD 5461
Input
100%
Related to:
HLA
Data type:
UNS.WORD
Siemens AG, 2003. All rights reserved
02.99
10.03
Cross reference: -
Protection level:
3/3
Active:
Immediately
Cross reference: -
Protection level:
3/3
Active:
Immediately
MD 5460
- MD 5461
Cross reference: -
Protection level:
3/3
Active:
Power On
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