10.03
4.3 Closed-loop velocity control
4-99
Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
4.3 Closed-loop velocity control
4.3.1 Velocity adaptation/feedforward control
The NC ³ drive transfer interface is normalized to the maximum velocity set in
data MD 5401: DRIVE_MAX_SPEED.
5401 DRIVE_MAX_SPEED Cross reference: -
Maximum useful velocity
Related to:
HLA
Protection level:
3/3
Unit:
mm/min
Default:
0.0
Minimum:
0.0
Maximum:
120 000.0
Data type:
FLOAT
Active:
Power On
The velocity limit is defined by the settings in MD 5440:
POS_DRIVE_SPEED_LIMIT and MD 5441: NEG_DRIVE_SPEED_LIMIT, but
not with MD 5401: DRIVE_MAX_SPEED.
5004 CTRL_CONFIG Cross reference: -
Configuration structure
Related to:
HLA
Protection level:
3/3
Unit:
HEX
Default:
1000
Minimum:
0
Maximum:
1000
Data type:
UNS.WORD
Active:
Power On
Velocity setpoints are preset in the position controller cycle.
In order to prevent rigorous drive positioning motions at the beginning of each
position controller cycle, the current and previous velocity setpoint are interpo-
lated linearly in the drive.
Bit 12=0: no interpolation, velocity setpoint only changes in the
position controller cycle.
Bit 12=1: linear interpolation of the velocity setpoint over one
position controller cycle. The default setting is active.
Velocity
setpoint
Velocity setpoint interpolation deactivated
Dwell
Velocity setpoint from
the NC
Velocity setpoint active
in drive
Position control cycle
Velocity
setpoint
Velocity setpoint interpolation activated
Dwell
Position control cycle
Fig. 4-4 Velocity setpoint interpolation
Velocity setpoint
Velocity setpoint
interpolation
4 Firmware Drive Functions
08.99
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