Siemens SINUMERIK 840D Simodrive 611 digital

6 Pro
g
rammin
g
the control
6
03/2006
6.9 Axes and spindles
6-111
© Siemens AG 2006 All Rights Reserved
SINUMERIK 840D/810D Start-Up Guide (IADC) – 03/2006 Edition
The velocity matching takes place inside the SINUMERIK 840D. The setpoint is
limited as a percentage via MD 36210: CTRLOUT_LIMIT in relation to the
speed entered in MD 1401: MOTOR_MAX_SPEED. An alarm is generated if
the setpoint is exceeded for the set time MD 36220: CTRLOUT_LIMIT_TIME.
The axes are stopped with the open position control loop via a braking ramp,
MD 36610: AX_EMERGENCY_STOP_TIME. This MD must contain the time
within which the axis can brake to zero from maximum velocity.
MD 36210: CTRLOUT_LIMIT (maximum speed setpoint)
MD 36220: CTRLOUT_LIMIT_TIME (monitoring time for maximum speed
setpoint)
MD 36610: AX_EMERGENCY_STOP_TIME (duration of the braking ramp in
error states)
Alarm “25060 axis [name] speed setpoint limitation”
The monitoring is intended to ensure that axes whose theoretical velocity is
limited by mechanical conditions (e.g. by the mechanical limit frequency of the
pulse encoder) run without error. The actual velocity monitoring is always active
if at least one encoder is configured on the axis (MD 30200 NUM_ENCS < > 0)
and this is below its limit frequency. Alarm 25030 is output if the threshold is
exceeded.
MD 36020: AX_VELO_LIMIT (threshold for velocity monitoring)
MD 36610: AX_EMERGENCY_STOP_TIME (duration of the braking ramp in
error states)
Alarm “25030 axis [name] actual velocity alarm limit”
This monitoring is based on an ongoing comparison of the measured following
error and the error calculated in advance from the NCK position setpoint.
Contour monitoring is always active in position-controlled mode. If the tolerance
band is violated, then the alarm “Contour monitoring” is generated and the axes
are braked along a set braking ramp.
MD 36400: CONTOUR_TOL (contour monitoring tolerance band)
MD 36610: AX_EMERGENCY_STOP_TIME (duration of the braking ramp in
error states)
Alarm “25050 axis [name] contour monitoring”.
The frequency entered in MD: ENC_FREQ_LIMIT is monitored. If this is
exceeded, the alarm “Encoder frequency exceeded” is output and the axes
braked to zero speed. The interface signal “Referenced/synchronized” is reset
(DB31, ... DBX60.4, DBX60.5).
Example:
Encoder with 2048 pulses directly on the motor, limit frequency 200 kHz,
n
max
= (f
limit
/pulses) * 60 sec= 5900 1/min
Result:
It must be ensured that this speed is not reached at maximum axis velocity
(MAX_AX_VELO).
MD 36300: ENC_FREQ_LIMIT (encoder limit frequency),
NST “Encoder limit frequency exceeded 1” (DB31, ... DBX60.2),
NST “Encoder limit frequency exceeded 2” (DB31, ... DBX60.3),
Alarm “21610 channel [name] axis [name] Encoder frequency exceeded”.
Dynamic
monitoring
functions
Velocity limitation
Velocity monitoring
Contour monitoring
Encoder monitoring
(encoder limit fre-
quency monitoring)