Siemens Sinumerik 840D Series Function Manual page 66

3 Startup
3.9 Fine adjustment and optimization
Adjustment of
controlled system
gain
3-66
Use function generator to enter a velocity setpoint of v
offset=0.
Output curve behavior ∆
Controller=0; D, I, P
v
∆
Cylinder
travel-out
Cylinder
travel-in
Adjustment stage 1:
v
∆
Cylinder
travel-out
Cylinder
travel-in
Adjustment stage 2:
v
Cylinder
travel-out
Cylinder
travel-in
3. Adjusted state
Fig. 3-20 Adjustment of controlled system gain
Note
S
V is not represented by the "servo trace" function if the setpoint is defined
set
by the function generator.
S
The setting must be checked at different velocities.
- Generally speaking, the average value of the calculated controlled
system gain must be set or
- the gain can be adjusted to match the relevant operating range.
S
Both adjustment are equivalent, i.e. adjustment by the stage 2 method via
MD 5462 and MD 5463 produces equivalent results when the preset value
(setting) of the controlled system gain (MD 5435) is applied.
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
0 ∆
Aim of adjustment
1 2
v
1 set
v
act
∆
2
Identical setting for both velocity directions with
MD 5435; match v and v
set
v
set
1
v
act
∆
= 0
2
Direction-dependent adjustment with MD 5462 and/or
MD 5463.
∆
= 0
1
v
set
v
act
∆
= 0
2
 Siemens AG, 2003. All rights reserved
04.00
10.03
,
set
∆v
= 0
out
∆v
= 0
in
t
at one end.
act
t
t