10.03
4.4 Closed-loop force control
4-118
Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
4.4.2 Static friction injection
If a pressure sensor is installed and connected for the pressures at A and B, the
static friction injection function in MD 5241 can be activated.
Static force injection should not be activated if the cylinder is required to hold a
varying force of weight. In addition, the offset of the valve manipulated voltage
and the piston position must already have been adjusted. Machine data
MD 5232...MD 5235 can be adjusted by means of a circularity test.
Velocity below which zero speed and thus static friction is detected.
5232 STICTION_SPEED_THRESHOLD Cross reference: -
Velocity threshold for static friction Related to:
HLA
Protection level:
3/3
Unit:
mm/min
Default:
10.0
Minimum:
0.0
Maximum:
500.0
Data type:
FLOAT
Active:
Immediately
The force controller ensures that the force is limited to the value set in MD 5234
or MD 5235 when the velocity drops below the setting in MD 5232 for as long as
the drive is stationary.
Which of the two force setpoints is applied (MD 5234 or MD 5235) is determined
by the sign of the velocity setpoint.
5233 STICTION_COMP_THRESHOLD Cross reference: -
Cutoff limit static friction Related to:
HLA
Protection level:
3/3
Unit:
%
Default:
40.0
Minimum:
3.0
Maximum:
100.0
Data type:
FLOAT
Active:
Immediately
The force controller is deactivated just before the setpoint is reached via the
cutoff limit (MD 5233) to prevent overshoots occurring during servo solenoid
valve actuation.
If MD 5233 is set to 100%, then the force controller is not switched off until the
force setpoint (MD 5234 or MD 5235) is reached or unless the drive moves be-
forehand. This setting results in overshoots in the actual velocity value.
Velocity threshold
Cutoff limit
4 Firmware Drive Functions
04.00
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