Siemens SINUMERIK 840D Description Of Functions page 84

3 Start-Up
3.11 Start-up functions
Measurement of
position control
loop
3-84
SINUMERIK 840D/SIMODRIVE 611 digital Descr. of Functions HLA Module (FBHLA) – 04.00 Edition
20.000
0
Ampl.
[dB]
–60.000
1.000
180.000
Phase
[degrees]
–180.000
1.000
Phase margin at 0 dB
Fig. 3-34 Oscillogram for velocity controller path + controller
Note: Measurement of open velocity controlled system,
indicative of the stability of the control loop.
Target values for stability of control loop:
S
At least 3 dB amplitude margin at 180 degrees
S
At least 60 degrees phase margin at 0 dB
Table 3-6 Measurement types and quantities for measurement of position control
loop
Measurement
Reference fre- Position setpoint in position control-
quency response ler cycle, position control loop
closed, velocity control loop closed
Setpoint step Position setpoint in position control-
change ler cycle, position control loop
closed, velocity control loop closed
Setpoint ramp
Amplitude margin at 180 degrees
log [Hz]
log [Hz]
Trigger Measured quantities
Actual position/position set-
point
Quantity 1:
Position setpoint
Quantity 2:
S
Actual position
S
Control deviation
S
Following error
S
Actual velocity
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02.99
2000.000
2000.000