Siemens Sinumerik 840D Series Function Manual

10.03
4.4 Closed-loop force control
4-121
 Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
If force limitation and/or static friction injection are activated in MD 5241, the
reduction in the force controller P gain in response to large setpoint/actual value
deviations (large-signal operation) is entered in MD 5243. The P component of
the force controller must be reduced since the dynamic limitations of the actua-
tor in large-signal operation also reduce the potential dynamic response of the
control loop.
Small-signal operation is set in MD 5242.
The factor in MD 5243 specifies as a percentage the value to which a
P component of 10 V is reduced.
5244
FORCECTRL_INTEGRATOR_TIME [n] 0...7 index of the parameter set
Cross reference: -
Force controller reset time Related to:
HLA
Protection level:
3/3
Unit:
ms
Default:
40.0
Minimum:
0.0
Maximum:
2000.0
Data type:
FLOAT
Active:
Immediately
If force limitation and/or static friction injection is activated in MD 5241, the reset
time of the force controller is entered in this machine data.
Enter a value of 0 for the reset time deactivates the I-action component.
5245
FORCECTRL_PT1_TIME [n] 0...7 index of the parameter set
Cross reference: -
Force controller smoothing time constant Related to:
HLA
Protection level:
3/3
Unit:
ms
Default:
0.5
Minimum:
0.25
Maximum:
100.0
Data type:
FLOAT
Active:
Immediately
5246
FORCECTRL_DIFF_TIME [n] 0...7 index of the parameter set
Cross reference: -
Force controller D-action time Related to:
HLA
Protection level:
3/3
Unit:
ms
Default:
0.0
Minimum:
-10000.0
Maximum:
10000.0
Data type:
FLOAT
Active:
Immediately
If force limitation and/or static friction injection is activated in MD 5241, a
smoothing time constant of the force controller for derivative action is set in
MD 5245 and, in addition to the force controller P component (MD 5242), a
D-action component (jerk feedback) in MD 5246.
If the D-action component of the force controller is deactivated (MD 5246), then
the smoothing function (MD 5245) is also rendered inoperative.
The D-action time setting (MD 5246) can be negative or positive. No D compo-
nent is active if the D-action time is set to zero.
I component
of force controller
D 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