Siemens Sinumerik 840D Series Function Manual page 121

02.99
10.03
I component
of force controller
5244
FORCECTRL_INTEGRATOR_TIME [n]
Force controller reset time
Unit: Default:
ms 40.0
D component
of force controller
5245
FORCECTRL_PT1_TIME [n]
Force controller smoothing time constant
Unit: Default:
ms 0.5
5246
FORCECTRL_DIFF_TIME [n]
Force controller D-action time
Unit: Default:
ms 0.0
 Siemens AG, 2003. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
If force limitation and/or static friction injection are activated in MD 5241, the
reduction in the force controller P gain in response to large setpoint/actual value
deviations (large-signal operation) is entered in MD 5243. The P component of
the force controller must be reduced since the dynamic limitations of the actua-
tor in large-signal operation also reduce the potential dynamic response of the
control loop.
Small-signal operation is set in MD 5242.
The factor in MD 5243 specifies as a percentage the value to which a
P component of 10 V is reduced.
0...7 index of the parameter set
Minimum: Maximum:
0.0 2000.0
If force limitation and/or static friction injection is activated in MD 5241, the reset
time of the force controller is entered in this machine data.
Enter a value of 0 for the reset time deactivates the I-action component.
0...7 index of the parameter set
Minimum: Maximum:
0.25 100.0
0...7 index of the parameter set
Minimum: Maximum:
-10000.0 10000.0
If force limitation and/or static friction injection is activated in MD 5241, a
smoothing time constant of the force controller for derivative action is set in
MD 5245 and, in addition to the force controller P component (MD 5242), a
D-action component (jerk feedback) in MD 5246.
If the D-action component of the force controller is deactivated (MD 5246), then
the smoothing function (MD 5245) is also rendered inoperative.
The D-action time setting (MD 5246) can be negative or positive. No D compo-
nent is active if the D-action time is set to zero.
4 Firmware Drive Functions
4.4 Closed-loop force control
Cross reference: -
Related to:
Protection level:
HLA
3/3
Data type: Active:
FLOAT Immediately
Cross reference: -
Related to:
Protection level:
HLA
3/3
Data type: Active:
FLOAT Immediately
Cross reference: -
Related to:
Protection level:
HLA
3/3
Data type: Active:
FLOAT Immediately
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