10.03
4.3 Closed-loop velocity control
4-107
Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
Recommended setting:
Increase cycle time for measuring system with wide scale graduations or large
derivative action time of D component.
Adaptation of the P and D components is recommended where the natural fre-
quency of the servo solenoid valve is higher than that of the drive.
5413 SPEEDCTRL_ADAPT_ENABLE Cross reference: -
Selection of velocity controller adaptation Related to:
HLA
Protection level:
3/3
Unit:
-
Default:
0
Minimum:
0
Maximum:
1
Data type:
UNS.WORD
Active:
Immediately
Requirement: Adaptation can only be selected following zero calibration of cylin-
der piston, see Subsection 3.9.4.
With MD 5413: SPEEDCTRL_ADAPT_ENABLE can be used to activate (bit
0=1)/deactivate (bit 0=0) adaptation. If adaptation is deactivated, MD 5407 ap-
plies: SPEEDCTRL_GAIN and MD 5430: SPEEDCTRL_PT1_TIME apply.
S Adaptation ON (see Fig. 4-11)
With MD 5406: SPEEDCTRL_GAIN_A and MD 5408:
SPEEDCTRL_GAIN_B are programmed to define the P gain and MD 5431:
SPEEDCTRL_DIFF_TIME_A,
MD 5433: SPEEDCTRL_DIFF_TIME_B to define the derivative-action time
(D component)
at the A and B ends of the cylinder.
MD 5407: SPEEDCTRL_GAIN and MD 5432: SPEEDCTRL_DIFF_TIME
act on the position set in MD 5160: PISTON_POS_MIN_NAT_FREQ.
S Adaptation OFF
MD 5407: SPEEDCTRL_GAIN and MD 5432: SPEEDCTRL_DIFF_TIME
are active over the entire range,
The natural frequency of the drive varies as a function of distance. Extreme val-
ues occur at the two limits and in the approximate center (MD 5160) of the tra-
versing range. It may therefore be useful to adapt the velocity controller position
(P and D components), with the extreme range limits specified as interpolation
points.
The adaptation function can be activated or deactivated.
If the piston zero has not been calibrated, the adaptation will not be operative,
even if it is activated.
When adaptation is active, the P gain and D-action component of the velocity
controller are interpolated linearly between two points.
“Calculate controller data” alters the settings for the controllers and the adapta-
tion selection.
Adaptation of
P and D
components
4 Firmware Drive Functions
02.99
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