Closed-Loop Velocity Control - Siemens SINUMERIK 840D Description Of Functions

4 Firmware Drive Functions

4.3 Closed-loop velocity control

4.3
Closed-loop velocity control
4.3.1 Velocity adaptation/feedforward control
Velocity setpoint
adaptation
5401 DRIVE_MAX_SPEED
Maximum useful velocity
Unit: Default:
mm/min 0.0
Velocity setpoint
interpolation
5004 CTRL_CONFIG
Configuration structure
Unit: Default:
HEX 1000
4-100
SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
The NC ³ drive transfer interface is normalized to the maximum velocity set in
data MD 5401: DRIVE_MAX_SPEED.
Minimum: Maximum:
0.0 120 000.0
The velocity limit is defined by the settings in MD 5440:
POS_DRIVE_SPEED_LIMIT and MD 5441: NEG_DRIVE_SPEED_LIMIT, but
not with MD 5401: DRIVE_MAX_SPEED.
Minimum: Maximum:
0 1000
Velocity setpoints are input in the position controller cycle.
In order to prevent rigorous drive positioning motions at the beginning of each
position controller cycle, the current and previous velocity setpoint are interpo-
lated linearly in the drive.
Bit 12=0: No interpolation, velocity setpoint changes only in the position
controller cycle.
Bit 12=1: Linear interpolation of velocity setpoint over one position
controller cycle. The default setting is active.
Velocity
Velocity setpoint interpolation deactivated
setpoint
Velocity
Velocity setpoint interpolation activated
setpoint
Fig. 4-3 Velocity setpoint interpolation
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Power On
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
UNS.WORD Power On
Velocity setpoint from the
NC
Velocity setpoint active in
drive
Time
Position
controller cycle
Time
Position controller cycle
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