Siemens SINUMERIK 840D Description Of Functions page 68

3 Start-Up
3.9 Fine adjustment and optimization
Adjustment of
controlled system
gain
3-68
SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
Use function generator to input a velocity setpoint of v
offset=0.
Output curve behavior
Controller=0; D, I, P
v
n1
Cylinder
travel-out
Cylinder
travel-in
1st adjustment stage:
v
n1
Cylinder
travel-out
Cylinder
travel-in
2nd adjustment stage:
v
Cylinder
travel-out
Cylinder
travel-in
3rd adjustment stage:
Fig. 3-20 Adjustment of controlled system gain
Note
S
V is not represented by the "servo trace" function if the setpoint is defined
set
by the function generator.
S
The setting must be checked at different velocities.
– Generally speaking, the average value of the calculated controlled sys-
tem gain must be set or
– the gain can be adjusted to match the relevant operating range.
S
Both methods of adjustment are equivalent, i.e. adjustment by the stage 2
method via MD 5462 and MD 5463 produces equivalent results when the
preset value (setting) of the controlled system gain (MD 5435) is applied.
Objective of adjustment
n1 n2
v
set
v
act
n2
Even adjustment for both velocity directions
with MD 5435; Make v and v
set
at one end.
v
set
v
act
= 0
n2
Direction-dependent adjustment with MD 5462
and/or MD 5463.
n
= 0
n1
v
set
v
act
= 0
n2
 Siemens AG 2000. All rights reserved
04.00
02.99
,
set
v = 0
n
off
v = 0
n
on
t
congruent
act
t
t