10.03
4.3 Closed-loop velocity control
4-100
Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
The complexity of applying velocity setpoint filters means that it is not possible
to provide generally-applicable, definitive guidelines for their use. However, cri-
teria for selecting filters and their parameters are defined below.
The velocity setpoint filters are used to adapt the velocity-controlled drive group-
ing to the higher-level position control loop. You can choose between bandstop
filters and low passes (PT2/PT1).
The task of a filter is to
S smooth the control response characteristic,
S damp mechanical resonance and
S symmetrize axes with different dynamic responses, especially the response
of interpolating axes.
Note
Low-pass filters can be employed on interpolating axis groupings to
compensate for differences in dynamic response in velocity control loops.
The total equivalent time constant (equivalent time constant of velocity control
loop + equivalent time constant of velocity setpoint filter) must be set to an
identical value for all mutually interpolating axes.
Entering damping values close to the minimum input limits results in overshoots
up to a factor of 2 in the time range.
5500 NUM_SPEED_FILTERS [n] 0...7 index of the parameter set Cross reference: -
No. of velocity filters
0: No velocity filters active
1: Velocity filter activated
Related to:
HLA
Protection level:
3/3
Unit:
-
Default:
0
Minimum:
0
Maximum:
1
Data type:
UNS.WORD
Active:
Immediately
5501
SPEED_FILTER_TYPE [n] 0...7 index of the parameter set
Cross reference: -
Type of velocity filter
Bit 0= 0: Low-pass (see MD 5502, MD 5506, MD 5507)
1: Bandstop (see MD 5514 - MD 5516, MD 5520)
Bit 8= 0: PT2 low-pass (see MD 5506, MD 5507)
1: PT1 low-pass (see MD 5502)
Related to:
HLA
Protection level:
3/3
Unit:
-
Default:
0
Minimum:
0
Maximum:
257
Data type:
UNS.WORD
Active:
Immediately
5502
SPEED_FILTER_1_TIME [n] 0...7 index of the parameter set
Cross reference: -
PT1 time constant for velocity filter 1
Related to:
HLA
Protection level:
3/3
Unit:
ms
Default:
0.0
Minimum:
0.0
Maximum:
500.0
Data type:
FLOAT
Active:
Immediately
The filter is activated via MD 5500 (1) and deactivated via (0). The default set-
ting is deactivated. The type of velocity filter can be defined by setting
MD 5501 to PT1 or PT2 low-pass or to band-stop filter. The key data for the filter
is defined in MD 5502 to MD 5520.
The filter is deactivated if machine data MD 5502 is set to 0.
Velocity setpoint
filter
4 Firmware Drive Functions
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