Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
7.4 Closed-loop control
Turning, Milling, Nibbling
Function Manual, 11/2012, 6FC5397-1CP10-5BA0
133
Consistency check
While the SINUMERIK 802D sl is powering up, a consistency check is performed on the
parameters for cyclic PROFIBUS communication that are relevant for process data
configuration:
● NC: MD13060 DRIVE_TELEGRAM_TYPE[n] (drive telegram type)
● Drive: p0922 (PROFIdrive telegram selection)
If the drive telegram type in MD13060 is different from the one defined in p0922, alarm
26015 "Axis %1 machine data %2[%3] value not permissible" is output (in this case, %2
corresponds to the identifier for MD13060).
Application examples
● System variables during synchronization with a modal effect:
ID=1 WHENEVER TRUE DO $R0=$VA_LOAD[X]
● System variables in a part program:
...
WHENEVER $VA_LOAD[X]>80 DO $AC_OVR=80
G1 G90 X200 F10000
...
7.4 Closed-loop control
General
The closed-loop control of an axis consists of the current and speed control loop of the drive
plus a higher-level position control loop in the NC.
The speed and current control are described in:
Reference:
/FH1/ Function Manual SINAMICS S120, Section "Operating modes"
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