Siemens SINUMERIK 840D sl, Function Manual

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Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
3
Table of contents
1 Brief description......................................................................................................................................... 5
2 Detailed description ................................................................................................................................... 7
2.1
Velocities, traversing ranges, accuracies ......................................................................................7
2.1.1 Velocities........................................................................................................................................7
2.1.2 Traversing ranges ........................................................................................................................10
2.1.3 Positioning accuracy of the control system..................................................................................11
2.1.4 Block diagram of resolutions and scaling values.........................................................................12
2.1.5 Input/display resolution, computational resolution.......................................................................13
2.1.6 Scaling of physical quantities of machine and setting data .........................................................15
2.2 Metric/inch measuring system .....................................................................................................19
2.2.1 General ........................................................................................................................................19
2.2.2 Conversion of basic system by parts program.............................................................................20
2.2.3 Manual switchover of the basic system .......................................................................................25
2.2.4 FGROUP and FGREF .................................................................................................................29
2.3 Setpoint/actual-value system.......................................................................................................32
2.3.1 General ........................................................................................................................................32
2.3.2 Speed setpoint and actual-value routing .....................................................................................35
2.3.3 Configuration of drives .................................................................................................................41
2.3.4 Adapting the motor/load ratios.....................................................................................................42
2.3.5 Speed setpoint output ..................................................................................................................46
2.3.6 Actual-value processing...............................................................................................................49
2.3.7 Adjustments to actual-value resolution ........................................................................................52
2.4 Closed-loop control ......................................................................................................................59
2.4.1 General ........................................................................................................................................59
2.4.2 Parameter sets of the position controller .....................................................................................63
2.4.3 Extending the parameter set........................................................................................................65
2.5 Optimization of the control ...........................................................................................................69
2.5.1 Position controller: injection of positional deviation .....................................................................69
2.5.2 Position controller position setpoint filter: New balancing filter....................................................71
2.5.3 Position controller position setpoint filter: new jerk filter ..............................................................79
2.5.4 Position control with proportional-plus-integral-action controller .................................................82
2.5.5 System variable for status of pulse enable ..................................................................................85
2.5.6 Expansions for "deceleration axes" .............................................................................................87
3 Supplementary conditions ....................................................................................................................... 89
4 Examples................................................................................................................................................. 91
5 Data lists.................................................................................................................................................. 93
5.1
Machine data................................................................................................................................93
5.1.1 Memory specific machine data ....................................................................................................93
5.1.2 NC-specific machine data............................................................................................................93
5.1.3 Channelspecific machine data.....................................................................................................94
5.1.4 Axis/spindlespecific machine data ...............................................................................................94
Index........................................................................................................................................................ 97