10.03
4.3 Closed-loop velocity control
4-110
Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
Velocity below which the integrator feedback takes effect.
5422 FEEDBK_SPEED_THRESHOLD Cross reference: -
Velocity threshold for integrator feedback Related to:
HLA
Protection level:
3/3
Unit:
mm/min
Default:
10.0
Minimum:
0.0
Maximum:
120000.0
Data type:
FLOAT
Active:
Immediately
The integrator feedback function is mainly used when static friction problems
are encountered, i.e. so as to suppress undesirable movements caused by
static friction (slip-stick effect) in position-controlled operation and at zero speed.
MD 5422 can be set to ensure that the integrator feedback is activated only for
low velocity setpoints and stabilizes the axis at zero speed. At high velocities,
however, the effect of the I component is not restricted.
A derivative-action component (acceleration feedback) is implemented in the
controller in addition to the P component. This derivative-action component is
located in the feedback branch. It is set via the derivative-action time. It may be
a negative or positive setting. No D component is active if the D-action time is
set to zero.
5430
SPEEDCTRL_PT1_TIME [n] 0...7 index of the parameter set
Cross reference: -
Velocity controller smoothing time constant
Related to:
HLA
Protection level:
3/3
Unit:
ms
Default:
0.25
Minimum:
0.25
Maximum:
100.0
Data type:
FLOAT
Active:
Immediately
5431
SPEEDCTRL_DIFF_TIME_A [n] 0...7 index of the parameter set
Cross reference: -
Derivative-action time of velocity controller A (D component)
Related to:
HLA
Protection level:
3/3
Unit:
ms
Default:
0.0
Minimum:
-100.0
Maximum:
100.0
Data type:
FLOAT
Active:
Immediately
5432
SPEEDCTRL_DIFF_TIME [n] 0...7 index of the parameter set
Cross reference: -
Derivative-action time of velocity controller (D component)
Related to:
HLA
Protection level:
3/3
Unit:
ms
Default:
0.0
Minimum:
-100.0
Maximum:
100.0
Data type:
FLOAT
Active:
Immediately
5433
SPEEDCTRL_DIFF_TIME_B [n] 0...7 index of the parameter set
Cross reference: -
Derivative-action time of velocity controller B (D component)
Related to:
HLA
Protection level:
3/3
Unit:
ms
Default:
0.0
Minimum:
-100.0
Maximum:
100.0
Data type:
FLOAT
Active:
Immediately
Similar to the P component setting, it is possible to set a D component at the A
and B ends of the cylinder.
Since precise differentiation is not possible, an additional denominator compo-
nent must be provided. This component is set by means of a smoothing time
constant (MD 5430: SPEEDCTRL_PT1_TIME). If the D component is deacti-
vated, then the smoothing constant also ceases to function.
Integrator
feedback
threshold
D component
(acceleration
feedback)
4 Firmware Drive Functions
02.99
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