Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
7.3 Setpoint/actual-value system
Turning, Milling, Nibbling
132 Function Manual, 11/2012, 6FC5397-1CP10-5BA0
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Figure 7-10 Standard telegram 116 with process data
Activation
To transfer drive variables to individual system variables you must set the following machine
data:
MD36730 DRIVE_SIGNAL_TRACKING = 1
Table 7- 4 Specific drive variables
PDA Drive variable System variable Drive MD
16 Torque utilization $VA_LOAD[X] r0081[0]
17 Smoothed torque setpoint $VA_TORQUE[X] r0079[1]
18 Smoothed actual active power value $VA_POWER[X] r0082[1]
19 Smoothed, torque-generating actual current
value
$VA_CURR[X] r0078[1]
The system variables can be smoothed with a PT1 filter. The filter time constant is defined
using the following MD:
MD32920 AC_FILTER_TIME (smoothing filter time constant for adaptive control)
Specifying 0 seconds for the smoothing time deactivates the filter.
Data formats
The user must take the following points into account with regard to the data formats of the
process data stored in the system variables:
● The PDA is transferred to the telegram in the 16-bit integer without leading sign (UINT16)
format. They are stored in the system variables in the 32-bit integer with leading sign
(INT32) format. During the necessary format conversion, bit 15 of the 16-bit integer PDA
value without leading sign is transferred to bits 16 to 31 of the signed 32-bit integer value
with leading sign in the system variable.
● For the physical unit as well as the drive-end weighting of the drive actual values
transferred in the additional PDA, please refer to the data description of the specific drive
documentation.
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