Siemens Sinumerik 840DiE sl - Page 351

01/2007
11.5 Axes and spindles
11-351
© Siemens AG 2007 All Rights Reserved
SINUMERIK 840Di sl Manual (HBIsl) – 01/2007 Edition
Feedforward control value
to
speed
controller
KV
+
Speed
setpoint
monitoring
Position controller
Following
error
Fig. 11-21 Speed setpoint calculation
Notice
The limitation of the speed setpoint will turn the control loop into a nonlinear
control loop.
Generally, this will result in deviations from the contour and longer dwelling of
the machine axis within the speed setpoint limitation.
Monitoring due to the actual velocity of the machine axis determined based on
the encoder values
S MD36020: AX_VELO_LIMIT (threshold value for velocity monitoring)
Error response
S Interrupt: ”25030 Alarm limit of actual velocity”
and stopping the machine axis using a speed setpoint ramp whose characteris-
tic is set in
S MD36610: AX_EMERGENCY_STOP_TIME (Time for braking ramp when
an error occurs)
Cause of errors/error handling
S Check speed setpoint cable
S Check actual values
S Check position control direction (control sense)
S Threshold value for velocity monitoring is possibly too low.
Monitoring of the difference between following error measured and following
error calculated from the position setpoint.
S MD36400: CONTOUR_TOL (tolerance band for contour monitoring)
Error response
S Interrupt: ”25050 Contour monitoring”
Actual velocity
monitoring
Contour
monitoring
11 NCK Commissionin
g
with HMI Advanced