Siemens SINUMERIK 840D Simodrive 611 digital User Manual

6 Pro
g
rammin
g
the control
6
03/2006
6.9 Axes and spindles
6-103
© Siemens AG 2006 All Rights Reserved
SINUMERIK 840D/810D Start-Up Guide (IADC) – 03/2006 Edition
6.9.10 Axis position control data
The controller for an axis consists of the speed control loop, the current control
loop and a higher-level position control loop.
Position
controller
Speed
controller
i
set
n
set
Current
controller
n
act
i
act
Position setpoint
from
interpolator
Motor
Encoder
Actual position
value
(position)
Fig. 6-15 Control loops
If the axis does not move in the desired direction, it is adapted via MD 32100:
AX_MOTION_DIR (traversing direction). The value “–1” reverses the direction
of motion. Allowance is made internally for the control direction of the position
controller. If the control direction of the position measuring system is the wrong
way around, this is corrected with MD 32110: ENC_FEEDBACK_POL (actual
sign value).
In order to obtain high contour accuracy with an interpolation, the loop gain
factor (K
V
factor) of the position controller must be large. If the K
V
factor is too
high, on the other hand, this leads to overshooting, instability and inadmissibly
high loading of the machine. The maximum permissible K
V
factor is dependent
on the design and dynamic response of the drive and the mechanical quality of
the machine.
Following error
Velocity
K
V
=
[m/min]
[mm]
Control loops
Traversing
direction
Loop gain
Definition of the K
V
(loop gain) factor

Siemens SINUMERIK 840D Simodrive 611 digital Specifications

General

Brand	Siemens
Model	SINUMERIK 840D Simodrive 611 digital
Category	Control Unit
Language	English