10.03
4.15 Parameters table
4-169
Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
MD no. Name in NC
ware-
Version
Max. Unit
Attribute
Firm-
Data type
Index Active
Version Min.Name in plaintext
FLOAT
5233
5234
FLOAT
FLOAT
5235
Friction force at velocity >0
Cutoff limit static friction
Friction force at velocity <0
4.4.2
4.4.2
4.4.2
immediately
immediately
immediately
N
%
N
100000000.0
100.0
100.0
40.0
-100.0
-100000000.0
3.0
STICTION_FORCE_POS
STICTION_COMP_THRESHOLD
STICTION_FORCE_NEG
1.01
1.01
1.01
5240
5241
5242
5243
FLOAT
UNS.WORD
FLOAT
FLOAT
Force controlled controlled-system gain
Force controller configuration
Force controller P gain
Reduction of force controller P component
4.4.3
4.4
4.4.3
4.4.3
immediately
immediately
immediately
immediately
0...7
0...7-
%
6
10000.0
100.0
0.0
0
0.0
40.0
0.0
0
0.0
0.1
FORCECONTROLLED_SYSTEM_GAIN
FORCECTRL_CONFIG
FORCECTRL_GAIN
FORCECTRL_GAIN_RED
N/V
HEX
1.01
1.01
1.01
1.01
5244
FLOATForce controller reset time 4.4.3immediately0...7ms2000.040.0 0.0FORCECTRL_INTEGRATOR_TIME
1.01
5245 FLOATForce controller smoothing time constant 4.4.3immediately0...7ms100.00.5 0.25FORCECTRL_PT1_TIME 1.01
5246 FLOATForce controller D-action time 4.4.3immediately0...7ms10000.00.0 -10000.0FORCECTRL_DIFF_TIME 1.01
100000000.0-100000000.0
100000000.0
UNS.WORD
5247
5260
FLOAT
UNS.WORD
5261
NUM_FFW_FCTRL_FILTERS
Feedforward control factor for force controller
FFW_FCTRL_FILTER_TYPE
4.4.3
4.4.3
4.4.3
immediately
immediately
immediately
0...7
0...7
-
%
-
1
120.0
0
100.0
0
0
0.0
No. of force controller feedforward control filters
FORCE_FFW_WEIGHT
Type of feedforward control filter in force controller
1.01
1.01
1.01
5264
5265
5268
5269
FLOAT
FLOAT
FLOAT
FLOAT
FFW_FCTRL_FIL_1_FREQ
FFW_FCTRL_FIL_1_DAMP
FFW_FCTRL_FIL_1_SUP_FREQ
FFW_FCTRL_FIL_1_BW
4.4.3
4.4.3
4.4.3
4.4.3
immediately
immediately
immediately
immediately
0...7
0...7
0...7
0...7
Hz
Hz
1.0
7999.0
7999.0
2000.0
0.7
3500.0
500.0
10.0
0.2
10.0
5.0
PT2-natur. freq. feedforward control filter1
PT2 damping for feedforward control filter 1
Blocking frequency of feedforward control filter 1
Bandwidth of feedforward control filter 1
Hz
-
1.01
1.01
1.01
1.01
5270
FLOATFFW_FCTRL_FIL_1_BW_NUM 4.4.3immediately0...7Hz7999.00.0 0.0Numerator bandwidth feedforward control filter 1
1.01
5280
UNS.WORDNUM_OUTPUT_FILTERS 4.5.2immediately0...7-100Number of control output filters 1.01
10
8000.0
5232
FLOATVelocity threshold for static friction 4.4.2immediatelymm/min500.010.0 0.0STICTION_SPEED_THRESHOLD 1.01
FLOAT
5215
Num. bandwith contr. output filter 2 veloc. controller 4.3.2immediately0...7Hz7999.00.0 0.0OUTPUT_VCTRL_FIL_2_BW_NUM 1.01
5230
5231 FLOAT
FLOAT
Weight force limitation
Force limitation tolerance threshold about weight
4.4.1
4.4.1
immediately
immediately
0...7
0...7
N
N
100000000.0
0.0
10000.0 0.0
FORCE_LIMIT_WEIGHT
FORCE_LIMIT_THRESHOLD
1.01
1.01
-100000000.0 100000000.0
FLOAT
5210
5211
5212
FLOAT
FLOAT
Num. bandwith contr. output filter vel. controller
Bandwidth control output filter 1 velocity controller
Blocking freq. control output filter 1 vel. controller
4.3.2
4.3.2
4.3.2
immediately
immediately
immediately
0...7
0...7
0...7
Hz
Hz
Hz
7999.0
7999.0
7999.0
0.0
500.0
3500.0
0.0
5.0
1.0
OUTPUT_VCTRL_FIL_1_BW_NUM
OUTPUT_VCTRL_FIL_1_BW
OUTPUT_VCTRL_FIL_1_SUP_FREQ 1.01
1.01
1.01
5213
5214
FLOAT
FLOAT
Bandwidth control output filter 2 velocity controller
Blocking freq. control output filter 2 vel. controller
4.3.2
4.3.2
immediately
immediately
0...7
0...7
Hz
Hz
7999.0
7999.0
500.0
3500.0
5.0
1.0
OUTPUT_VCTRL_FIL_2_BW
OUTPUT_VCTRL_FIL_2_SUP_FREQ 1.01
1.01
Sec-
tion
4 Firmware Drive Functions
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