6 Pro
rammin
the control
6
03/2006
6.9 Axes and spindles
6-97
© Siemens AG 2006 All Rights Reserved
SINUMERIK 840D/810D Start-Up Guide (IADC) – 03/2006 Edition
Filter 2
Setpoint current filter
n_act iq_set
Filter 4
Setpoint speed
limitation
Speed
setpoint filter:
n_set
Function generator
for FFT analysis
Setpoint torque
monitoring
Actual speed monitoring
=> Torque setpoint limitation = 0
+
Filter 3
Torque setpoint limitation
Torque conversion
acc. to cross current
Speed control loop
Set-up mode
1239 TORQUE_LIMIT_FOR_SETUP
PT2:
1208 CURRENT_FILTER_4_FREQUENCY
1209 CURRENT_FILTER_4_DAMPING
Band-stop filter
1219 CURRENT_FILTER_4_SUPPR_FREQ
1220 CURRENT_FILTER_4_BANDWIDTH
1725 MAXIMAL_TORQUE_FROM_NC
1230 TORQUE_LIMIT_1
1233 TORQUE_LIMIT_GENERATOR
1235 POWER_LIMIT_1
1237 POWER_LIMIT_GENERATOR
1145 STALL_TORQUE_REDUCTION (MSD)
1409 SPEEDCTRL_INTEGRATOR_TIME_1
1413 SPEEDCTRL_ADAPT_ENABLE
1410 SPEEDCTRL_INTEGRATOR_TIME_2
1411 SPEEDCTRL_ADAPT_SPEED_1
1412 SPEEDCTRL_ADAPT_SPEED_2
Set-up mode
1420 MOTOR_MAX_SPEED_SETUP
1405 MOTOR_SPEED_LIMIT
PT1:
1500 NUM_SPEED_FILTERS
1502 SPEED_FILTER_1_TIME
PT2:
1204 CURRENT_FILTER_2_FREQUENCY
1205 CURRENT_FILTER_2_DAMPING
PT2:
1206 CURRENT_FILTER_3_FREQUENCY
1207 CURRENT_FILTER_3_DAMPING
Band-stop filter
1216 CURRENT_FILTER_3_SUPPR_FREQ
1217 CURRENT_FILTER_3_BANDWIDTH
1218 CURRENT_FILTER_3_BW_NUM
Band-stop filter
1213 CURRENT_FILTER_2_SUPPR_FREQ
1214 CURRENT_FILTER_2_BANDWIDTH
1215 CURRENT_FILTER_2_BW_NUM
1200 NUM_CURRENT_FILTERS
1201 CURRENT_FILTER_CONFIG
Bit 3 2 1 0
Filter 4 3 2 1
0:= Low pass
1:= Band-stop
1605 SPEEDCTRL_LIMIT_TIME
ALARM: 300608 axis %1, drive %2
speed controller output limited
n_act <1606 SPEEDCTRL_
LIMIT_THRESHOLD
+
+
Speed controller
reset time
Integrator feedback
Speed controller
P gain
nact > MD 1147 SPEED_LIMIT
+
1221 CURRENT_FILTER_4_BW_NUM
1413 SPEEDCTRL_ADAPT_ENABLE
1411 SPEEDCTRL_ADAPT_SPEED_1
1412 SPEEDCTRL_ADAPT_SPEED_2
1407 SPEEDCTRL_GAIN 1[n]
1408 SPEEDCTRL_GAIN_2[n]
1421 SPEEDCTRL_INTEGRATOR_FEEDBK [n]
&
2nd setpoint speed filter
with low-pass and bandstop filter
1503 SPEED_FILTER_2_TIME
611D/CCU3
611D:
Weight balancing/precontrol torque
+
611D/CCU3:
Setpoint speed precontrol
+
611D/CCU3:
Filter 1–4 in current controller
Actual speed filter PT1:
1522 ACT_SPEED_FILTER_TIME
611D /CCU3: 2x
Fig. 6-13 Speed controller with the most important properties
Reference material: /FBA/ DD2, Description of the drive functions,
Speed control loop
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