Controller Adaptation - Siemens SINUMERIK 840D Description Of Functions

02.99
3.9.6

Controller adaptation

General
Implementation
 Siemens AG 2000. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
Since the natural frequency of the cylinder changes as a function of position, it
may be useful to adapt the position of the velocity controller. The maximum val-
ues coincide with the limits, and the minimum approximately with the center (MD
5160), of the traversing range.
Preconditions:
S
NC end has been referenced.
S
Cylinder piston in neutral position has been adjusted according to Section
3.9.4.
S
Control parameters have been processed according to the relevant operat-
ing range.
Procedure:
S
Optimize the velocity controller (P and D components) with the associated
machine data at the limits and at position set in MD 5160.
Example: (cf. Fig. 4-10) operating range = total piston stroke
Interpolation point 1
³ MD 5406: SPEEDCTRL_GAIN_A
³ MD 5431: SPEEDCTRL_DIFF_TIME_A
Interpolation point 2
MD 5160: PISTON_POS_MIN_NAT_FREQ
³ MD 5407: SPEEDCTRL_GAIN
³ MD 5432: SPEEDCTRL_DIFF_TIME
Interpolation point 3
³ MD 5408: SPEEDCTRL_GAIN_B
³ MD 5433: SPEEDCTRL_DIFF_TIME_B
Note
If one end of a cylinder cannot be approached, then the adaptation process
can be limited to two interpolation points.
S
Velocity controller adaptation active
MD 5413: SPEEDCTRL_ADAPT_ENABLE=1
Note
SPEEDCTRL_ADAPT_ENABLE=1 (MD 5413) is switched through only
when the axis has been referenced and adjusted.
With f (see Section 3.9.5), adaptation is deactivated during "Calculate


controller data".
3.9 Fine adjustment and optimization
Optimization to A end of cylinder
Optimization to piston position as set in
Optimization to B end of cylinder
3 Start-Up
(P gain)
(D gain)
(P gain)
(D gain)
(P gain)
(D gain)
3-75