Siemens Sinumerik 840D Series Function Manual

10.03
4.4 Closed-loop force control
4-120
 Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
5240
FORCECONTROLLED_SYSTEM_GAIN Cross reference: -
Force controlled controlled-system gain Related to:
HLA
Protection level:
3/3
Unit:
N/V
Default:
0.0
Minimum:
0.0
Maximum:
1000000000.0
Data type:
FLOAT
Active:
Immediately
MD 5240 contains the controlled system proportional gain for the force control
loop.
Since the force control loop has an integral action, a unit integrator (I-action time
of 1 second) was subtracted from the controlled system to calculate the gain.
MD 5240 is preset by the “Calculate drive model data” routine.
The controlled system gain depends on the volume of oil in the cylinder and the
nominal volumetric flow of the servo solenoid valve. The value should not gen-
erally be altered.
The value in MD 5240 is the reference for the P gain of the force controller.
MD 5240 makes allowance for the effects of geometric dimensions.
The effect of the valve dynamic response is taken into account in MD 5242,
which means that the same gain value can always be set for an identical valve
dynamic response on different cylinders.
5242
FORCECTRL_GAIN [n] 0...7 index of the parameter set
Cross reference: -
Force controller P gain Related to:
HLA
Protection level:
3/3
Unit:
-
Default:
0.0
Minimum:
0.0
Maximum:
10000.0
Data type:
FLOAT
Active:
Immediately
If force limitation and/or static friction injection is activated in MD 5241, the P
gain of the force controller is entered in this machine data.
The P gain reference is MD 5240, which contains a value representing the ef-
fects of the geometric dimensions.
The effect of the valve dynamic response is taken into account in MD 5242,
which means that the same gain value can always be set for an identical valve
dynamic response on different cylinders.
5243 FORCECTRL_GAIN_RED Cross reference: -
Reduction of force controller P gain Related to:
HLA
Protection level:
3/3
Unit:
%
Default:
40.0
Minimum:
0.1
Maximum:
100.0
Data type:
FLOAT
Active:
Immediately
Controlled system
gain of force
controller
P component
of force controller
4 Firmware Drive Functions
02.99

Siemens Sinumerik 840D Series Specifications

General

Axes	Up to 31 axes
Power Supply	24 V DC
Control Type	CNC
Interface	Ethernet, PROFIBUS
Display	TFT color display
PLC	Integrated PLC (programmable logic controller)
Operating Temperature	0°C to 45°C
Relative Humidity	Up to 95% (non-condensing)
Max. Number of Channels	Up to 10 channels