10.03
3.11 Start-up functions
3-80
 Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
20.000
-60.000
180.000
-180.000
Ampl.
[dB]
Phase
[degrees]
0.100 200.000log [Hz]
0.100 200.000log [Hz]
Fig. 3-30 Oscillogram showing reference frequency response of velocity control loop
Amplitude: 20 mm/min.
Offset: 100 mm/min.
t [ms]
0.000 50.000
Fig. 3-31 Timing of setpoint step change in velocity control loop
Step change: 0 → 100 mm/min without closed-loop force control, real friction
conditions
Trace 1: Velocity setpoint
Trace 2: Actual velocity value
02.99
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