Siemens SINUMERIK 840D sl Function Manual page 470

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2.5 Optimization of the control

Position control with proportional-plus-integral-action controller

In the default scenario, the core of the position controller is a proportional controller with the

above-mentioned upstream override options.

For special uses (such as for electronic gearing), an integral part can be connected. The

resulting proportional-plus-integral-action controller then corrects the error between setpoint

and actual positions down to zero in a finite, settable time period when the appropriate

machine data are set accordingly.

When the proportional-plus-integral-action controller is active, overshoots occur in the actual

position. In this instance, you must decide whether this effect is admissible or acceptable for

the application in question. Expert knowledge of control engineering and measurements

taken using servo trace are absolutely essential when using this function. If incorrect settings

are made for the relevant machine data, there is a risk of damaging the machine, due to

possible instability.

The transfer function of the proportional-plus-integral-action controller is as follows:

P component gain

Integral time

Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)

Function Manual, 11/2006, 6FC5397-0BP10-2BA0

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