10.03
4.4 Closed-loop force control
4-117
Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
FFA
t
0
F
contr.
on
t
0
F
t
0
mode
F
act
F
limit
Fig. 4-13 Force limitation 2
Deselection of closed-loop force control by deactivating function “Travel to fixed
stop” bit.
4.4.1 Force limitation
Force limitation tolerance band (plus/minus) about force of weight and weight
force limitation.
5230
FORCE_LIMIT_THRESHOLD [n] 0...7 index of the parameter set
Cross reference: -
Force limitation tolerance threshold about weight Related to:
HLA
Protection level:
3/3
Unit:
N
Default:
10000.0
Minimum:
0.0
Maximum:
100000000.0
Data type:
FLOAT
Active:
Immediately
5231
FORCE_LIMIT_WEIGHT [n] 0...7 index of the parameter set
Cross reference: -
Weight force limitation Related to:
HLA
Protection level:
3/3
Unit:
N
Default:
0.0
Minimum:
-100000000.0
Maximum:
100000000.0
Data type:
FLOAT
Active:
Immediately
If a pressure sensor is installed and connected for the pressures at A and B, the
force limitation in MD 5241 can be activated.
The force controller then ensures that the cylinder force is limited to the
relevant values if it is threatening to exceed the value set in MD 5230 plus force
of weight (MD 5231) or to drop below the force of weight value (MD 5231) minus
the setting in MD 5230.
Since only the cylinder force is measured and regulated, it may be necessary to
allow for the force of weight in MD 5231 and the friction force in MD 5230.
An additional force limitation value with the same effect as MD 5230 can be pre-
set by the NC, e.g. when traveling onto a fixed stop. The lower of the two force
limitation values is then applied.
4 Firmware Drive Functions
02.99
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