10.03
4.4 Closed-loop force control
4-119
Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
The cylinder friction force at a positive or negative velocity is set in MD 5234
and 5235 respectively.
5234 STICTION_FORCE_POS Cross reference: -
Friction force at velocity > 0 Related to:
HLA
Protection level:
3/3
Unit:
N
Default:
100.0
Minimum:
-100000000.0
Maximum:
100000000.0
Data type:
FLOAT
Active:
Immediately
Allowance must be made for the force of weight applied to the cylinder in MD
5234 (e.g. with a cylinder mounting position other than 0 degrees, MD 5151).
The value to be set can be read in MD 5708 when the cylinder is moved slowly
(e.g. in JOG mode) in the positive direction.
If the force of weight applied to the cylinder varies as a function of load, then
static force injection cannot be utilized.
5235 STICTION_FORCE_NEG Cross reference: -
Friction force at velocity < 0 Related to:
HLA
Protection level:
3/3
Unit:
N
Default:
-100.0
Minimum:
-100000000.0
Maximum:
100000000.0
Data type:
FLOAT
Active:
Immediately
Allowance must be made for the force of weight applied to the cylinder in
MD 5235 (e.g. with a cylinder mounting position other than 0 degrees,
MD 5151). The value to be set can be read in MD 5708 when the cylinder is
moved slowly (e.g. in JOG mode) in the negative direction.
If the force of weight applied to the cylinder varies as a function of load, then
static force injection cannot be utilized.
4.4.3 Force controller
Factor for setting the feedforward control gain in the force controller.
5247 FORCE_FFW_WEIGHT Cross reference: -
Feedforward control factor for force controller Related to:
HLA
Protection level:
3/3
Unit:
%
Default:
100.0
Minimum:
0.0
Maximum:
120.0
Data type:
FLOAT
Active:
Immediately
Operative only if force limitation or static friction injection is activated
in MD 5241.
The more accurate the feedforward control setting, the more effective the force
limitation at high velocities.
An excessively high setting can result in continuous switching between force
and velocity controllers.
The area adaptation (MD 5462 and MD 5463) and controlled system gain
(MD 5435) are taken into account by the feedforward control.
Cylinder friction
force
Feedforward
control gain of
force controller
4 Firmware Drive Functions
02.99
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