Siemens SINUMERIK 840D Description Of Functions page 106

4 Firmware Drive Functions
4.3 Closed-loop velocity control
Velocity setpoint
limitation
5420 DRIVE_MAX_SPEED_SETUP
Max. velocity for setup mode
Unit: Default:
mm/min 10.0
5440 POS_DRIVE_SPEED_LIMIT
Positive velocity setpoint limit
Unit: Default:
mm/min 0.0
5441 NEG_DRIVE_SPEED_LIMIT
Negative velocity setpoint limit
Unit: Default:
mm/min 0.0
Acceleration
limitation
Controlled system
gain
5435
CONTROLLED_SYSTEM_GAIN [n]
Controlled system gain
Unit: Default:
mm/Vmin 0.0
4-106
SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
The velocity setpoint is limited in the positive and negative directions.
Note
The maximum rapid traverse velocity of the drive (G0 function) is determined
by NC machine parameter 32000.
Minimum: Maximum:
0.0 120 000.0
Minimum: Maximum:
0.0 120 000.0
Minimum: Maximum:
0.0 120000.0
With a differential cylinder, the physically possible velocities for piston travel-out
and travel-in are asymmetrical. For this reason, it is advisable to set asymmetri-
cal limitations. A ZK3 message (can be interrogated via PLC) is activated when
the limitation is violated.
If setup mode is selected, then the velocity setpoint is set to the value in MD
5420 for both directions. The velocity setpoint limitation is calculated as part of
the "Calculate drive model data" operation and MD 5440 and MD 5441 preset
accordingly.
To protect mechanical components against excessive wear and damage, the
drive acceleration rate setpoints can be limited by the NC. The linear interpola-
tion of velocity setpoints (cf. MD 5522: SPEED_FIPO_TYPE; velocity setpoint
interpolation) ensures that the drive accelerates at the rate specified by the con-
trol. A function for limiting the acceleration rate in the drive has not been imple-
mented. (A braking ramp is operative only if the velocity controller is disabled,
see MD 5402: SPEED_CTRL_DISABLE_STOPTIME).
The controlled system gain should be entered in MD 5435 after "Calculate drive
model data" and not altered unless it is incorrect. The value in MD 5435 is the
reference for the P gain of the velocity controller.
0...7 index of the parameter set
Minimum: Maximum:
0.0 20000.0
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Immediately
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Immediately
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Immediately
Cross ref.: –
Relevant for: Protection level:
HLA 3/3
Data type: Effective:
FLOAT Immediately
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