Siemens SINUMERIK 840D Description Of Functions page 101

02.99
Velocity setpoint
filters
5500 NUM_SPEED_FILTERS [n] 0...7 index of the parameter set
No. of velocity filters
0: No velocity filter active
1: Velocity filter activated
Unit: Default:
– 0
5501
SPEED_FILTER_TYPE [n]
type of velocity filter
Bit 0= 0: Low-pass (see MD 5502, MD 5506, MD 5507)
1: Band-stop (see MD 5514 – MD 5516, MD 5520)
Bit 8= 0: PT2 low-pass (see MD 5506, MD 5507)
1: PT1 low-pass (see MD 5502)
Unit: Default:
– 0
5502
SPEED_FILTER_1_TIME [n]
PT1 time constant for velocity filter 1
Unit: Default:
ms 0.0
 Siemens AG 2000. All rights reserved
SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
Due to the complexity of applying velocity setpoint filters, no generally applica-
ble, definitive guidelines for their use can be given here. However, criteria for
selecting filters and their parameters are defined below.
The purpose of velocity setpoint filters is to adapt the velocity-controlled drive
grouping to the higher-level position control loop. Band-stop and low-pass filters
(PT2/PT1) are available.
The task of a filter is to
S
smooth the control response characteristic,
S
dampen mechanical resonance and
S
symmetrize axes with different dynamic responses, especially the response
of interpolating axes.
Note
Low-pass filters can be employed on interpolating axis groupings to compen-
sate for differences in dynamic response in velocity control loops.
The total equivalent time constant (equivalent time constant of velocity control
loop + equivalent time constant of velocity setpoint filter) must be set to an
identical value for all mutually interpolating axes.
The input of damping values close to the minimum input limits results in over-
shoots up to a factor of 2 in the time range.
Minimum: Maximum:
0 1
0...7 index of the parameter set
Minimum: Maximum:
0 257
0...7 index of the parameter set
Minimum: Maximum:
0.0 500.0
The filter is activated via MD 5500 (1) and deactivated via (0). The default set-
ting is deactivated. The type of velocity filter can be parameterized
in MD 5501 as a PT1 or PT2 low-pass or as a band-stop filter. The key data for
the filter are set in MD 5502 to MD 5520.
The filter is deactivated if machine data MD 5502 is set to 0.
4 Firmware Drive Functions
4.3 Closed-loop velocity control
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
UNS.WORD Immediately
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
UNS.WORD Immediately
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Immediately
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