10.03
4.3 Closed-loop velocity control
4-109
Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
A negative P gain setting may be useful for oscillation damping. Negative gain
settings are permissible. The gain is specified in relation to the drive servo gain
setting. 100% means that if the distance-to-go is equal to the maximum speed
(MD 5440: POS_DRIVE_SPEED_LIMIT, MD 5441:
NEG_DRIVE_SPEED_LIMIT), the full nominal valve voltage will be output as
the P component.
The P gain set in MD 5407 SPEEDCTRL_GAIN is referred to the controlled
system gain set in MD 5435: CONTROLLED_SYSTEM_GAIN.
5409
SPEEDCTRL_INTEGRATOR_TIME [n] 0...7 index of the parameter set
Cross reference: -
Reset time of velocity controller Related to:
HLA
Protection level:
3/3
Unit:
ms
Default:
50.0
Minimum:
0.0
Maximum:
2000.0
Data type:
FLOAT
Active:
Immediately
The integral-action component can be deactivated by setting the reset time to
zero. For a negative P gain setting, the reset time is interpreted as a negative
value so that the compensation always acts as negative feedback.
The integrator can be activated/deactivated via the PLC. The current status is
returned to the PLC.
5421
SPEEDCTRL_INTEGRATOR_FEEDBK [n] 0...7 index of the parameter set
Cross reference: -
Time constant of integrator feedback Related to:
HLA
Protection level:
3/3
Unit:
ms
Default:
0.0
Minimum:
0.0
Maximum:
1000.0
Data type:
FLOAT
Active:
Immediately
The integrator of the velocity controller loop is reduced to a 1st order low-pass
action with the configured time constant via a weighted feedback.
S Effect:
The output of the velocity controller integrator is limited to a value propor-
tional to the difference between setpoint and actual values (steady-state
proportional action).
S Applications:
Machining motions for position setpoint zero and dominant static friction can
be suppressed but result in a permanent distance-to-go, e.g. oscillation of
the position-controlled axis at zero speed (stick-slip effect) or overshooting in
the µm-step method.
S Setting notes:
Optimize this data starting from a high value until you find the best
compromise.
If the time constant integrator feedback v1 ms is set, feedback is disabled.
I component
Integrator
feedback
4 Firmware Drive Functions
02.99
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