6 Assi
nin
Parameters to the Control and the PLC Pro
ram
6
03.96
6.9 Axes and spindles
6-126
 Siemens AG 2000 All Rights Reserved
SINUMERIK 840D Installation and Start-Up Guide (IAD) – 04.00 Edition
Filter 2
Current setpoint filter
n_act iq_set
Filter 4
Speed setpoint
limitation
Speed
setpoint filter
n_set
Torque setpoint
monitoring
Actual speed monitoring
=> Torque setpoint limitation = 0
+
Filter 3
Torque setpoint limitation
Torque conversion
to cross current
Speed controller
Setup mode
1239 TORQUE_LIMIT_FOR_SETUP
PT2:
1208 CURRENT_FILTER_4_FREQUENCY
1209 CURRENT_FILTER_4_DAMPING
Band–stop filter
1219 CURRENT_FILTER_4_SUPPR_FREQ
1220 CURRENT_FILTER_4_BANDWIDTH
1725 MAXIMAL_TORQUE_FROM_NC
1230 TORQUE_LIMIT_1
1233 TORQUE_LIMIT_GENERATOR
1235 POWER_LIMIT_1
1237 POWER_LIMIT_GENERATOR
1145 STALL_TORQUE_REDUCTION (MSD)
1409 SPEEDCTRL_INTEGRATOR_TIME_1
1413 SPEEDCTRL_ADAPT_ENABLE
1410 SPEEDCTRL_INTEGRATOR_TIME_2
1411 SPEEDCTRL_ADAPT_SPEED_1
1412 SPEEDCTRL_ADAPT_SPEED_2
Setup mode
1420 MOTOR_MAX_SPEED_SETUP
1405 MOTOR_SPEED_LIMIT
PT1:
1500 NUM_SPEED_FILTERS
1502 SPEED_FILTER_1_TIME
PT2:
1204 CURRENT_FILTER_2_FREQUENCY
1205 CURRENT_FILTER_2_DAMPING
PT2:
1206 CURRENT_FILTER_3_FREQUENCY
1207 CURRENT_FILTER_3_DAMPING
Band–stop filter
1216 CURRENT_FILTER_3_SUPPR_FREQ
1217 CURRENT_FILTER_3_BANDWIDTH
1218 CURRENT_FILTER_3_BW_NUM
Band–stop filter
1213 CURRENT_FILTER_2_SUPPR_FREQ
1214 CURRENT_FILTER_2_BANDWIDTH
1215 CURRENT_FILTER_2_BW_NUM
1200 NUM_CURRENT_FILTERS
1201 CURRENT_FILTER_CONFIG
Bit 3 2 1 0
Filter 4 3 2 1
0:= Low pass
1:= Band-stop
1605 SPEEDCTRL_LIMIT_TIME
ALARM: 300608 axis %1, drive %2
speed controller output limited
n_act <1606 SPEEDCTRL_
LIMIT_THRESHOLD
+
+
Speed controller
Reset time
Integrator feedback
Speed controller
P gain
nact > MD 1147 SPEED_LIMIT
1221 CURRENT_FILTER_4_BW_NUM
1621 CURRENT_FILTER_4_BW_NUM
1
1413 SPEEDCTRL_ADAPT_ENABLE
1411 SPEEDCTRL_ADAPT_SPEED_1
1412 SPEEDCTRL_ADAPT_SPEED_2
1407 SPEEDCTRL_GAIN 1[n]
1408 SPEEDCTRL_GAIN_2[n]
1421 SPEEDCTRL_INTEGRATOR_FEEDBK [n]
Scaling
1401 MOTOR_MAX_SPEED
Fig. 6-14 Speed controller with the most important setting parameters
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