06.03
10.5 Axes and spindles
10-347
Siemens AG, 2003. All rights reserved
SINUMERIK 840Di Manual (HBI) – 06.03 Edition
Feedforward control value
to speed
controller
Kv
+
Speed
setpoint
monitoring
Position controller
Following
error
Fig. 10-23 Speed setpoint calculation
Notice
The limitation of the speed setpoint will turn the control loop into a nonlinear
control loop.
Generally, this will result in deviations from the contour and longer dwelling of
the machine axis within the speed setpoint limitation.
Monitoring due to the actual velocity of the machine axis determined based on
the encoder values
MD 36020: AX_VELO_LIMIT (threshold value for speed monitoring)
Error response
Alarm: “25030 Alarm limit of actual velocity”
and stopping the machine axis using a speed setpoint ramp whose
characteristic is set in
MD36610: AX_EMERGENCY_STOP_TIME (time of brake ramp in case of
error conditions).
Error causes/remedy
Check speed setpoint cable
Check actual values
Check direction of position control
Threshold value for velocity monitoring is possibly too low.
Monitoring of the difference between following error measured and following
error calculated from the position setpoint.
MD36400: CONTOUR_TOL (contour monitoring tolerance band)
Error response
Alarm: “25050 Contour monitoring”
Actual velocity
monitoring
Contour
monitoring
10 NC Start-Up with HMI Advanced
