Siemens Sinumerik 840D Series - Page 66

10.03
3.9 Fine adjustment and optimization
3-66
 Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
Use function generator to enter a velocity setpoint of v
set
,
offset=0.
Cylinder
travel-out
Cylinder
travel-in
∆
1
∆
2
t
v
Output curve behavior ∆
1
0 ∆
2
Controller=0; D, I, P
Aim of adjustment ∆v
out
= 0
∆v
in
= 0
Adjustment stage 1: Identical setting for both velocity directions with
MD 5435; match v
set
and v
act
at one end.
Cylinder
travel-out
Cylinder
travel-in
∆
1
∆
2
= 0
t
Adjustment stage 2: Direction-dependent adjustment with MD 5462 and/or
MD 5463.
Cylinder
travel-out
Cylinder
travel-in
∆
1
= 0
∆
2
= 0
t
v
set
v
v
v
set
v
set
v
act
v
act
v
act
3. Adjusted state
Fig. 3-20 Adjustment of controlled system gain
Note
S V
set
is not represented by the “servo trace” function if the setpoint is defined
by the function generator.
S The setting must be checked at different velocities.
- Generally speaking, the average value of the calculated controlled
system gain must be set or
- the gain can be adjusted to match the relevant operating range.
S Both adjustment are equivalent, i.e. adjustment by the stage 2 method via
MD 5462 and
MD 5463 produces equivalent results when the preset value
(setting) of the controlled system gain (MD 5435) is applied.
Adjustment of
controlled system
gain
3 Startup
04.00