Siemens Sinumerik 840D Series Function Manual

10.03
3.11 Start-up functions
3-82
 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]
1.000 2000.000log [Hz]
1.000 2000.000log [Hz]
Phase margin at 0 dB
Amplitude margin at 180 degrees
0
Fig. 3-34 Oscillogram for velocity controller path + controller
Note: Measurement of open velocity controlled system,
indicative of the stability of the control loop.
Target values for stability of control loop:
S At least 3 dB amplitude margin at 180 degrees
S At least 60 degrees phase margin at 0 dB
Table 3-6 Measurement types and measured variables for position feedback loop
measurement
Measurement Trigger Measured quantities
Reference fre-
quency response
Position setpoint in position control-
ler cycle,
position control loop closed,
velocity control loop closed
Actual position/position set-
point
Setpoint step
change
Position setpoint in position control-
ler cycle,
position control loop closed,
velocity control loop closed
Measured variable 1:
Position setpoint
Measured variable 2:
S Actual position value
Control deviation
Setpoint ramp
S Control deviation
S Following error
S Actual velocity value
Position control
measurement
3 Startup
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