10.03
4.4 Closed-loop force control
4-116
Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
Enter configuration for force controller:
5241
FORCECTRL_CONFIG [n] 0...7 index of the parameter set
Cross reference: -
Force controller configuration
Bit 0= 0: Force limitation 1 from
1: Force limitation 1 ON
Bit 1= 0: Static friction injection OFF
1: Static friction injection ON
Bit 2= 0: Force limitation 2 OFF
1: Force limitation 2 ON
Related to:
HLA
Protection level:
3/3
Unit:
HEX
Default:
0
Minimum:
0
Maximum:
6
Data type:
UNS.WORD
Active:
Immediately
If a pressure sensor is installed and connected for the pressures at A and B, the
force limitation and/or static friction injection functions
in MD 5241 can be switched on.
Before the force limitation and/or static friction injection is activated, the associ-
ated machine data for force limitation (MD 5230, MD 5231)
or friction force (MD 5234, MD 5235) should be set. These data may contain the
force of weight values and might not be preset correctly by the defaults.
If the cylinder load changes and the force of weight must be held by the cylin-
der, then the static friction injection function cannot be utilized, as the values in
MD 5234 and MD 5235 vary depending on the load.
S Static friction injection (MD 5241 bit 1=1), see Subsection 4.4.2.
S Force limitation 1 (MD 5241 bit 0=1)
Force limitation 1 is always effective, even without FFA (NC function “Travel
to fixed stop”). The force limit is specified in MD 5230. If FFA is active, the
lowest force limitation always takes effect (MD 5230 or
MD 37010 or value from FXST[x]). Reference value (100% value) of force
limit for NC is MD 5725.
If the current force limitation is exceeded, the speed controller will remain
active, even if FFA has been activated. This may lead to faults if FFA is ac-
tive. At higher velocities, this can also cause continuous alternation between
the force and velocity controller. This mode is therefore only suitable for low
velocities (<0.1 @ maximum velocity).
S Force limitation 2 (MD 5241 bit 2=1)
Force limitation 2 becomes active when the force limit value is exceeded
and FFA is active. In each case, the lowest force limitation becomes active
(MD 5230 or MD 37010 or value from FXST[x]). Reference value (100%
value) of force limit for NC is MD 5725.
Force limitation remains active until the function FFA is deactivated, even if
the force has already fallen below the current force limitation.
Force controller
configuration
4 Firmware Drive Functions
04.00
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