Siemens SINUMERIK 840D Description Of Functions page 110

4 Firmware Drive Functions
4.3 Closed-loop velocity control
I component
5409
SPEEDCTRL_INTEGRATOR_TIME [n]
Reset time of velocity controller
Unit: Default:
ms 50.0
Integrator
feedback
5421
SPEEDCTRL_INTEGRATOR_FEEDBK [n]
Time constant of integrator feedback
Unit: Default:
ms 0.0
4-110
SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
A negative P gain setting may be useful for oscillation damping. Negative gain
settings are permissible. The gain is specified in relation to the drive servo gain
setting. 100 % means that the full rated valve voltage is output as the P compo-
nent with a setpoint/actual value difference corresponding to maximum velocity
(MD 5440: POS_DRIVE_SPEED_LIMIT, MD 5441:
NEG_DRIVE_SPEED_LIMIT).
The P gain set in MD 5407 SPEEDCTRL_GAIN is referred to the controlled
system gain set in MD 5435: CONTROLLED_SYSTEM_GAIN.
0...7 index of the parameter set
Minimum: Maximum:
0.0 2000.0
The integral-action component can be deactivated by setting the reset time to
zero. With a negative P gain setting, the reset time is interpreted as a negative
value so that the compensation always acts as negative feedback.
The integrator can be activated/deactivated via the PLC. The current status is
returned to the PLC.
Minimum: Maximum:
0.0 1000.0
The integrator of the velocity controller loop is reduced to a 1st-order low-pass
action with the configured time constant via a weighted feedback.
S
Effect:
The output of the velocity controller integrator is limited to a value propor-
tional to the setpoint/actual value deviation (steady-state proportional ac-
tion).
S
Applications:
Machining motions at position setpoint zero and dominant static friction can
be suppressed but result in a permanent distance-to-go, e.g. oscillation of
the positon controlled axis at zero speed (stick-slip effect) or overshooting in
µm-step method.
S
Setting note:
Optimize this data starting at a high value until you find the best
compromise.
If the time constant integrator feedback v1 ms is set, feedback is disabled.
Relevant for:
HLA
Data type:
FLOAT
0...7 index of the parameter set
Relevant for:
HLA
Data type:
FLOAT
 Siemens AG 2000. All rights reserved
02.99
Cross ref.: –
Protection level:
3/3
Effective:
Immediately
Cross ref.: –
Protection level:
3/3
Effective:
Immediately