7
7.4 Commissioning functions
7-721
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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
The ”staircase” waveform is especially significant when optimizing the
speed controller.
Depending on how the amplitude is parameterized, the following intere-
sting possibilities are obtained:
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
Start
Offset
2nd amplitude
Limiting
Period
–”– –”–
Fig. 7-6 ”Staircase” waveform with amplitude = 0 and offset > amplitude 2
Amplitude 0 (P1806 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
Start
2nd amplitude
Amplitude
Period
Limiting
Ramp–up
time
–”– –”–
Fig. 7-7 ”Staircase” waveform with amplitude > 0 and offset = 0
Details of the
”staircase”
waveform
7 Fault Handling/Diagnostics
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