Page 1 Description of Functions 10/2003 Edition sinumerik & simodrive HLA Module SINUMERIK 840D SIMODRIVE 611 digital...
Page 3 General Configuration Installation and Start-Up Firmware Drive Functions SINUMERIK 840D Hardware Drive Functions SIMODRIVE 611 digital Hydraulics Diagnostics HLA module Peripherals/Accessories Service Description of Functions Hydraulics Abbreviations Valid for Control Software Version Definition of Terms SINUMERIK 840D 5, 6 SINUMERIK 840DE (export version) 5, 6 References SINUMERIK 840Di...
Page 4 SIMATICr, SIMATIC HMIr, SIMATIC NETr, SIROTECr, SINUMERIKr, SIMODRIVEr and MOTION-CONNECTr are registered trademarks of Siemens AG. Other names in this publication might be trademarks whose use by a third party for his own purposes may violate the rights of the registered holder.
Page 5 The contents of this document shall neither become part of nor modify any prior or existing agreement, commitment or relationship. The Sales Contract contains the entire obligations of Siemens. The warranty contained in the contract be- tween the parties is the sole warranty of Siemens. Any statements contained herein do not create new warranties or modify the existing warranty.
Page 6 The Description of Functions applies only to the software versions specified. When a new software version is released, the Description of Functions for that version must be ordered.  Siemens AG, 2003. All rights reserved SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 7 This warning indicates that an undesirable result or an undesirable state may occur if the information is ignored. Note In the context of this document, it is advisable to take note of the warning information.  Siemens AG, 2003. All rights reserved SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 8 Should you have any questions about the documentation (suggestions, correc- tions), please fax them to: Fax: +49 (9131) 98-2176 Fax form: See the reply form at the end of the brochure  Siemens AG, 2003. All rights reserved viii SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 9 EN 60204-1, Section 19.4, all SIMODRIVE device connections must be disconnected/removed. This is necessary in order to avoid damaging the SIMODRIVE devices.  Siemens AG, 2003. All rights reserved SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 10 (e.g. touching a bare metal control housing). Closed-loop control modules, option modules and memory submodules may only be held by the front plate or on the board edges.  Siemens AG, 2003. All rights reserved SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 15: General
The mode of integration into the SIMODRIVE 611 system is compatible with the SIMODRIVE 611 digital SRM(FDD)/ARM(MSD). This basically involves the following interfaces: Drive bus Device bus Power supply system  Siemens AG, 2003. All rights reserved 1-15 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 16: Comparison Of Electric And Hydraulic Drive Systems
6 m v 3 m Maximum Unlimited travel path Collision Mechanically difficult Mechanically possible Mechanically possible protection  Siemens AG, 2003. All rights reserved 1-16 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 17 Velocity Velocity Current flowrate DC link voltage System pressure Flow rate @ Valve pressure differential Power Transistor/power section Valve Motor Drive cylinder  Siemens AG, 2003. All rights reserved 1-17 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 18: Structure Of An Electro-Hydraulically-Controlled Drive Axis
However, excessive friction, especially pronounced transitions from static to sliding friction, have a negative effect on the control result and impair the control loop stability.  Siemens AG, 2003. All rights reserved 1-18 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 19: Cylinder
Shut-off valves can prevent uncontrolled motion of the cylinder. 1.3.6 Position measuring system Task The position measuring system supplies the actual value for the position of the moving machine element.  Siemens AG, 2003. All rights reserved 1-19 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 20: Sinumerik 840D/Simodrive 611 Digital
It is installed at a distance from the drive axis. Accumulators are employed to compensate for strongly fluctuating hydraulic energy requirements and to mini- mize the installed power.  Siemens AG, 2003. All rights reserved 1-20 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 21: Configuration
Dimensioning of closed- Chapter 4 loop control components Dimensioning of position Section 7.1 sensor (measuring system) Fig. 2-1 Configuring steps in start-up sequence  Siemens AG, 2003. All rights reserved 2-21 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 22: Procedure For Configuring Hydraulic Components
In difficult cases, it may be worthwhile carrying out a dynamic simulation of the drive as an aid to configuration. The basic data required to design a system are obtained from a question- naire.  Siemens AG, 2003. All rights reserved 2-22 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 23 Rapid traverse retract: Machining feed advance: Machining feed retract: Acceleration rates [m/s Max. acceleration: Max. delay: Processed by: Dept.: No. of pages: Date:  Siemens AG, 2003. All rights reserved 2-23 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 24: Integration In Sinumerik 840D/Simodrive 611 Digital
External 24 V supply BERO input “Power enable” SIMATIC components References: /S7H/, Manual Terminator Terminator for drive bus (inserted in last module in drive grouping)  Siemens AG, 2003. All rights reserved 2-24 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 25 HLA modules, please refer to the Planning Guide for SIMODRIVE 611 Converters /PJU/. In a multi-tier configuration, all the infeed supply units must be connected simultaneously.  Siemens AG, 2003. All rights reserved 2-25 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 26 Shutoff valve SITOP power Enable (external PS) Note: External 26.5 V Display of hydraulics for one axis supply Fig. 2-3 System components  Siemens AG, 2003. All rights reserved 2-26 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 27 Device bus interface (X151) 1) Only required if external 26.5 V is not electrically separated safely! Fig. 2-4 Connection configuration for HLA module  Siemens AG, 2003. All rights reserved 2-27 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 28 1) Jumpers inserted in delivery state Power supply U1 V1 W1 X131 PE Fig. 2-5 Interfaces on mains supply module (OI and I/RF module)  Siemens AG, 2003. All rights reserved 2-28 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 29: Required Fw Packages
SIMODRIVE 611 digital HLA module w1.0 SINUMERIK 840D MMC SW u5.1 SINUMERIK 840D HMI SW w6 2.2.3 Hardware requirements NCU 561.2, 571.2, 572.2, 573.2  Siemens AG, 2003. All rights reserved 2-29 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 30: Configuring The Hydraulic Drive
Stroke length The stroke is identical to the working stroke of the drive except that it includes a few additional safety reserves.  Siemens AG, 2003. All rights reserved 2-30 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 31 HLA module are mounted on the machine slide. It is also possible to use posi- tion measuring systems (SSI encoders) integrated in the cylinder.  Siemens AG, 2003. All rights reserved 2-31 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 32: Selection Of Servo Solenoid Valves
The characteristic values specified for the valve limit frequencies relate to an amplitude of "5% and a phase offset in the Bode diagram of -90°, see also data in catalog supplied by Bosch Rexroth AG.  Siemens AG, 2003. All rights reserved 2-32...
Page 33 The knee-shaped characteristic of the valve must be linearized in the HLA mod- ule to adapt it to the closed-loop control of the entire drive (cylinder).  Siemens AG, 2003. All rights reserved 2-33 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 34 This improves the hydraulic clamping of the cylinder and adjusts characteristics the controlled system gain of the hydraulic servo-drive for both directions of travel. Fig. 2-9 Asymmetrical characteristics  Siemens AG, 2003. All rights reserved 2-34 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 35 100k Setpoint 0..."10 V 100k Sign. Actual value spool value Protective conductor Shield Fig. 2-11 Connector pin assignment on servo solenoid valves  Siemens AG, 2003. All rights reserved 2-35 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 36 0 811 404 642 0 811 404 747 0 811 404 644 0 811 404 645 0 811 404 646 0 811 404 647  Siemens AG, 2003. All rights reserved 2-36 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 37 A:50; B:25 0 811 404 827 A:100; B:50 0 811 404 828 A:50; B:25 0 811 404 829 A:100; B:50 Asymmetrical characteristic  Siemens AG, 2003. All rights reserved 2-37 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 38 0 811 404 693 12-pin /BR1/ 0 811 404 694 0 811 404 695 A:40; B:20 0 811 404 696 A:70; B:40 Asymmetrical characteristic  Siemens AG, 2003. All rights reserved 2-38 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 40 (barrier block) Shutoff valve (electrically switched) Fig. 2-14 Typical example for the combination of an electrically-switched shut-off valve with an additional barrier block  Siemens AG, 2003. All rights reserved 2-40 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 42: Natural Frequency Of The Hydraulic Drive
The Rexroth catalog data relates to a pilot pressure of 100 bar. Servo valves can reach corner frequencies of up to 1000 Hz, but are very sensi- tive to contamination.  Siemens AG, 2003. All rights reserved 2-42 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 43: Hydraulic Power Unit
For this reason, it is advisable to purge the system before the servo solenoid valves are fitted.  Siemens AG, 2003. All rights reserved 2-43 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 44 Accumulator with fail-safe circuit Filters in pressure line Filters in return line Oil/water heat exchanger Oil reservoir Fig. 2-15 Overview of typical hydraulic power unit  Siemens AG, 2003. All rights reserved 2-44 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 45: Connection
The stabilization has 24000 µF input capacity per module, which can best be charged up with a stabilized power supply (with current limitation).  Siemens AG, 2003. All rights reserved 2-45 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 46 Other requirements of the external 26.5 V supply: Voltage range (mean value) 25.97 V to 27.03 V DC Ripple 240 mVpp No voltage dips, otherwise disconnection  Siemens AG, 2003. All rights reserved 2-46 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 47 2 Configuration 10.03 2.4 Connection Recommended The SITOP power product range supplied by SIEMENS is recommended for use as the external 26.5 V power supply. power supply References: SITOP catalog Order no. E86060-K2410-A101-A4 SITOP power for line supply connection The SITOP power product types shown in the tables are recommended for...
Page 48: Grounding Concept/Electromagnetic Compatibility (Emc)
Please note the following in relation to electromagnetic compatibility: References: /EMC/, EMC Installation Guidelines Standards according to Declaration of Conformity (Appendix E)  Siemens AG, 2003. All rights reserved 2-48 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 49: Installation And Start-Up
The hydraulic linear drive (HLA) is displayed as follows next to the electric drives (SRM, ARM and SLM) in the “Machine Configuration” screen (basic Configuration start-up display): Fig. 3-2 Machine Configuration (basic start-up display)  Siemens AG, 2003. All rights reserved 3-49 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 50 11. Area adaptation in MD 5462, set MD 5463 such that the control difference in the positive and negative traversing directions is almost identical. 12. Force limitation and friction torque compensation, see Section 4.4.  Siemens AG, 2003. All rights reserved 3-50 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 51: Drive Configuration
NCK power ON reset has been carried out (taking you to the “Drive Machine Data” menu display), the drive can be started up.  Siemens AG, 2003. All rights reserved 3-51 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 52: Modify Drive Machine Data
Continue (See Fig. 3-21) position... search << Display options... File File functions functions Fig. 3-5 Rearrangement of vertical softkey menu for HLA  Siemens AG, 2003. All rights reserved 3-52 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 53: Valve Selection
From 10.03 onwards, the name of the company will be changed from Bosch to Rexroth in the menu displays. The order numbers will remain unchanged.  Siemens AG, 2003. All rights reserved 3-53 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 54 (ratio of flow rate at the A end to the B end of valve) MD 5113: VALVE_CONFIGURATION (valve configuration) MD 5114: VALVE_NATURAL_FREQUENCY (natural frequency of valve in small-signal range) MD 5115: VALVE_DAMPING (valve damping)  Siemens AG, 2003. All rights reserved 3-54 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 55 When you press “OK”, the machine data in menu display “Preset unlisted valve for HLA” are preset. You then return to this menu display.  Siemens AG, 2003. All rights reserved 3-55 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 56: Cylinder Selection
(cylinder dead volume at A end) MD 5136: CYLINDER_DEAD_VOLUME_B (cylinder dead volume at B end) Fig. 3-9 “Cylinder data for HLA” menu display  Siemens AG, 2003. All rights reserved 3-56 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 57: Mounting/Supply Data
Drive data MD 5150: DRIVE_MASS (moved mass of drive) MD 5151: CYLINDER_A_ORIENTATION (mounting position A end of cylinder) MD 5152: CYLINDER_FASTENING (cylinder mounting)  Siemens AG, 2003. All rights reserved 3-57 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 58: Measuring System Data
The remaining drives can then be started up. Activation of data The entered/calculated data can be activated by an NCK power On/Reset.  Siemens AG, 2003. All rights reserved 3-58 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 59: Modifying Data
Menu display “Valve data for HLA” You can return to menu display “Change data for HLA” (see Fig. 3-13) by press- ing “Abort” or “OK”.  Siemens AG, 2003. All rights reserved 3-59 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 60 MD 5430: SPEEDCTRL_PT1_TIME (smoothing time constant vel. lead time) MD 5431: SPEEDCTRL_DIFF_TIME_A[n] (velocity controller A derivative-action time) MD 5432: SPEEDCTRL_DIFF_TIME[n] (velocity controller lead time) MD 5433: SPEEDCTRL_DIFF_TIME_B[n] (velocity controller B)  Siemens AG, 2003. All rights reserved 3-60 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 61 “OK”. In this case as well, the texts are dependent on the set options. Fig. 3-16 Help screen for changing controller/drive model data  Siemens AG, 2003. All rights reserved 3-61 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 62: Fine Adjustment And Optimization
If valve end A is connected to cylinder end B (MD 5140=1), inversion of the valve manipulated variable (MD 5476) is preset by “Calculate controller data”.  Siemens AG, 2003. All rights reserved 3-62 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 63 MD 5707 positive? MD 32110: ENC_FEEDBACK_POL (actual value sign) Step 3 Fig. 3-18 Start-up flow chart, definition of drive travel direction  Siemens AG, 2003. All rights reserved 3-63 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 64: Offset Adjustment
Pressure sensor B: MD 5553: PRESSURE_SENS_B_OFFS is automatically adjusted. For unpressurized pressure sensors, the display must read approximately 0.0 bar for both pressures (MD 5704, MD 5705).  Siemens AG, 2003. All rights reserved 3-64 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 65: Velocity Adjustment
P gain of velocity controller (MD 5406/MD 5407/MD 5408) reset time of velocity controller (MD 5409) D-action time of velocity controller (MD 5431/MD 5432/MD 5433) must be set to 0.  Siemens AG, 2003. All rights reserved 3-65 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 66 MD 5462 and MD 5463 produces equivalent results when the preset value (setting) of the controlled system gain (MD 5435) is applied.  Siemens AG, 2003. All rights reserved 3-66 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 67: Referencing Data For Hla
The piston position adjustment must be repeated if the control direction, reference point offset or travel direction (MD 32110, MD 34090 or MD 32100) in the axis-specific machine data is changed.  Siemens AG, 2003. All rights reserved 3-67 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 68: Controller Optimization
Hz; Da=0.1 log f Phase frequency curve -180 -270 log f << f Fig. 3-22 Frequency response of controlled system ( valve cylinder  Siemens AG, 2003. All rights reserved 3-68 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 69 Hz; Da=0.1 log f Phase frequency curve -180 -270 log f Fig. 3-23 Frequency response of controlled system ( valve cylinder  Siemens AG, 2003. All rights reserved 3-69 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 70 Differences in the characteristic data may be caused as follows: Theor. valve: Real valve Pipes: Control pressure = f(Q) Additional valves; shut-off valves; filters; throttles (pressure measuring plates)  Siemens AG, 2003. All rights reserved 3-70 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 71 The derivative-action time constant/corner frequency parameters must be set to values higher than the minimum natural frequency of valve and drive.  Siemens AG, 2003. All rights reserved 3-71 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 72 The I component is deactivated if T =0 (MD 5409) or if the P component is zero (MD 5406=0, MD 5407=0, MD 5408=0).  Siemens AG, 2003. All rights reserved 3-72 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 73: Controller Adaptation
SPEEDCTRL_ADAPT_ENABLE=1 (MD 5413) is switched through only when the axis has been referenced and adjusted. For f (see section 3.9.5), adaptation is deactivated in “Calculate controller data”.  Siemens AG, 2003. All rights reserved 3-73 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 74: Hydraulic/Electrical Interpolation
Fig. 3-25 Hydraulic/electrical interpolation If dynamic stiffness control (DSC) is active, the DSC function must be activated on all interpolating axes.  Siemens AG, 2003. All rights reserved 3-74 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 75: File Functions
Fig. 3-26 Menu display “Dialog box Load machine data” Fig. 3-27 Menu display “File functions”  Siemens AG, 2003. All rights reserved 3-75 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 76: Start-Up Functions
The “Aut. Controller setting” in the “Startup functions” menu is disabled for axes with HLA since the algorithms it uses are designed for automatic controller set- ting for electric digital drives.  Siemens AG, 2003. All rights reserved 3-76 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 77: Measurement Function
0 Note It must be ensured that the drive is adequately lubricated before PBRS/FFT is applied (high-frequency movement at one position).  Siemens AG, 2003. All rights reserved 3-77 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 78 Velocity setpoint in velocity controller Actual velocity value/ troller path + cycle, valve control loop closed, velocity control deviation controller control loop closed  Siemens AG, 2003. All rights reserved 3-78 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 79 The following functional response in the diagrams were recorded with the equip- ment combination below: Valve: Type 4WRREH 6 HR servo solenoid (15 l/min, knee 60 %) from Bosch Rexroth AG  Siemens AG, 2003. All rights reserved 3-79 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 80 Step change: 0 → 100 mm/min without closed-loop force control, real friction conditions Trace 1: Velocity setpoint Trace 2: Actual velocity value  Siemens AG, 2003. All rights reserved 3-80 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 81 [Hz] 1000.000 Fig. 3-33 Oscillogram showing velocity controlled system v Note: Phase crossover -90 degrees essentially characterizes the cylinder natural frequency  Siemens AG, 2003. All rights reserved 3-81 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 82 Measured variable 2: velocity control loop closed Actual position value Control deviation Control deviation Setpoint ramp Following error Actual velocity value  Siemens AG, 2003. All rights reserved 3-82 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 83 -60.000 0.100 log [Hz] 125.000 180.000 Phase [degrees] -180.000 0.100 log [Hz] 125.000 Fig. 3-35 Example of measurement of position control loop  Siemens AG, 2003. All rights reserved 3-83 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 84: Function Generator
Fig. 3-36 Menu display “Function generator selection signal” Fig. 3-37 Menu display “Function generator selection signal type”  Siemens AG, 2003. All rights reserved 3-84 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 85 2.0510 -2.0260 -2.0610 0.0000 t [ms] 200.0000 Fig. 3-38 Servo trace of actual valve value with square-wave signal type to valve setpoint  Siemens AG, 2003. All rights reserved 3-85 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 86 The following diagram was created using a servo trace. 0.000 2.000e+03 t [ms] Fig. 3-39 Servo trace of actual velocity with square-wave signal type to velocity setpoint Amplitude: 100 mm/min.  Siemens AG, 2003. All rights reserved 3-86 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 87 The following diagram was created using a servo trace. 0.000 t [ms] 2.000e+03 Fig. 3-40 Servo trace of actual position with square-wave signal type to position setpoint Amplitude: 100 mm  Siemens AG, 2003. All rights reserved 3-87 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 88: Circularity Test
Actual force (with pressure sensing) Actual velocity value Valve stroke setpoint Actual valve stroke Actual pressure cylinder A end Actual pressure cylinder B end  Siemens AG, 2003. All rights reserved 3-88 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 89: Dac Parameter Settings
Friction feedforward control component velocity controller Velocity controller output before filter Velocity controller output after filter Actual position value Force setpoint Force controller control deviation  Siemens AG, 2003. All rights reserved 3-89 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 90: User Views
User views The horizontal softkey HLA is used under menu items “User Views/Edit View/In- sert Date”. Fig. 3-43 Menu display “Edit view”  Siemens AG, 2003. All rights reserved 3-90 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 91: Display Options
The machine data is grouped for display purposes is similarly to the machine groups data display for electric drives. Fig. 3-44 Menu display “Display options”  Siemens AG, 2003. All rights reserved 3-91 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 92: Configuring An Oem Valve List
“\oem” directory. This list is added as a separate item under the heading “OEM valves” at the end of the system list (Siemens list). The syntax of the valve list is identical to that of a Windows INI file. The list may be created under “Start-up”, “MMC”...
Page 93 The valve code is entered in the first column and must be a number. Numbers 1 to 1000 are reserved for Siemens. Individual values are separated by commas. Columns 1 and 2 are separated by an equals signal (=). Comments are pre- ceded by a semicolon.
Page 94: System Variables
Assignment of system variables Name Male connector $VA_VALVELIFT[X] X121/X122 14 and 15 $VA_PRESSURE_A[X] X111/X112 11 and 12 $VA_PRESSURE_B[X] X111/X112 14 and 15  Siemens AG, 2003. All rights reserved 3-94 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 95: Firmware Drive Functions
For the purpose of oscillation damping, the natural frequency of the servo sole- noid valve must be greater than that of the drive.  Siemens AG, 2003. All rights reserved 4-95 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 96 Fig.4-2 shows the functionality for velocity and closed-loop force control plus characteristics implemented in the HLA module. control functions Fig. 4-2 Controller and characteristic functions of the HLA module  Siemens AG, 2003. All rights reserved 4-96 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 97: Functions
Force control (Section 4.4) P/D/I components Force limitations Servo gain Manipulated voltage output (Section 4.5) Characteristic compensation Control output filter Manipulated voltage limitations  Siemens AG, 2003. All rights reserved 4-97 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 98: Parameter Set Changeover
É É É É É É É É É Press É É É É É É É É É Fig. 4-3 Example of a parameter set changeover  Siemens AG, 2003. All rights reserved 4-98 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 99: Closed-Loop Velocity Control
Velocity setpoint active in drive Dwell Position control cycle Velocity Velocity setpoint interpolation activated setpoint Dwell Position control cycle Fig. 4-4 Velocity setpoint interpolation  Siemens AG, 2003. All rights reserved 4-99 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 100 MD 5501 to PT1 or PT2 low-pass or to band-stop filter. The key data for the filter is defined in MD 5502 to MD 5520. The filter is deactivated if machine data MD 5502 is set to 0.  Siemens AG, 2003. All rights reserved 4-100 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 101 Low-pass filter (PT2) operation at natural frequency (MD 5506) of 1000 Hz and variations in damping (MD 5507) of 0.2, 0.5 and 1.0  Siemens AG, 2003. All rights reserved 4-101 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 102 Minimum: Maximum: Data type: Active: UNS.WORD Power On Note MD 5522 performs no function and is only compatible with the electric drives.  Siemens AG, 2003. All rights reserved 4-102 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 103 Hz and variations in bandwidth (MD 5515) of 100 Hz, 500 Hz, 1000 Hz. The bandwidth is the difference between the two frequencies with 3 dB drop in amplitude.  Siemens AG, 2003. All rights reserved 4-103 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 104 Frequency response of general band-stop at a blocking frequency of fz=1000 Hz, bandwidth fBn=500 Hz, numerator bandwidth fBz=0 Hz and variation in natural frequency of (MD 5520) fn=70.7%, 1000% and 141.4%  Siemens AG, 2003. All rights reserved 4-104 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 105 Cross reference: - CONTROLLED_SYSTEM_GAIN [n] Controlled system gain Related to: Protection level: Unit: Default: Minimum: Maximum: Data type: Active: mm/Vmin 20000.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-105 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 106: Velocity Controller
Short cycle: Good dynamic response, but measurement noise from actual velocity increases. Long cycle: Poor dynamic response, actual velocity values are not noisy  Siemens AG, 2003. All rights reserved 4-106 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 107 When adaptation is active, the P gain and D-action component of the velocity controller are interpolated linearly between two points. “Calculate controller data” alters the settings for the controllers and the adapta- tion selection.  Siemens AG, 2003. All rights reserved 4-107 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 108 SPEEDCTRL_GAIN_B [n] P gain of velocity controller B Related to: Protection level: Unit: Default: Minimum: Maximum: Data type: Active: -100.0 1000.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-108 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 109 Optimize this data starting from a high value until you find the best compromise. If the time constant integrator feedback v1 ms is set, feedback is disabled.  Siemens AG, 2003. All rights reserved 4-109 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 110 This component is set by means of a smoothing time constant (MD 5430: SPEEDCTRL_PT1_TIME). If the D component is deacti- vated, then the smoothing constant also ceases to function.  Siemens AG, 2003. All rights reserved 4-110 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 111 The variable filter parameters are entered in the associ- ated machine data. Note The filter machine data must be assigned before the filter type is configured.  Siemens AG, 2003. All rights reserved 4-111 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 112 Enter the natural frequency for control output filters 1...2 (PT2 low-pass) in the velocity controller. The filters are activated in MD 5200: NUM_OUTPUT_VCTRL_FILTERS and MD 5201: OUTPUT_VCTRL_FILTER_CONFIG.  Siemens AG, 2003. All rights reserved 4-112 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 113 Enter the -3dB bandwidth for control output filters 1...2 (bandstop filter) in the velocity controller. The filters are activated in MD 5200: NUM_OUTPUT_VCTRL_FILTERS and MD 5201: OUTPUT_VCTRL_FILTER_CONFIG.  Siemens AG, 2003. All rights reserved 4-113 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 114: Dynamic Stiffness Control (Dsc)
The function is implemented in the same way as on an electrical drive. It is also activated via the control system (as on an electrical drive).  Siemens AG, 2003. All rights reserved 4-114 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 115: Closed-Loop Force Control
This compensation function is needed to compensate the effects of static fric- compensation tion occurring when the traversing direction changes (reduction of contour er- rors, see e.g. circularity test).  Siemens AG, 2003. All rights reserved 4-115 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 116 Force limitation remains active until the function FFA is deactivated, even if the force has already fallen below the current force limitation.  Siemens AG, 2003. All rights reserved 4-116 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 117: Force Limitation
NC, e.g. when traveling onto a fixed stop. The lower of the two force limitation values is then applied.  Siemens AG, 2003. All rights reserved 4-117 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 118: Static Friction Injection
(MD 5234 or MD 5235) is reached or unless the drive moves be- forehand. This setting results in overshoots in the actual velocity value.  Siemens AG, 2003. All rights reserved 4-118 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 119: Force Controller
The area adaptation (MD 5462 and MD 5463) and controlled system gain (MD 5435) are taken into account by the feedforward control.  Siemens AG, 2003. All rights reserved 4-119 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 120 Cross reference: - Reduction of force controller P gain Related to: Protection level: Unit: Default: Minimum: Maximum: Data type: Active: 40.0 100.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-120 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 121 The D-action time setting (MD 5246) can be negative or positive. No D compo- nent is active if the D-action time is set to zero.  Siemens AG, 2003. All rights reserved 4-121 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 122 2000.0 10.0 8000.0 FLOAT Immediately The filter key data is defined in MD 5264, MD 5265 and MD 5268 to MD 5270.  Siemens AG, 2003. All rights reserved 4-122 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 123 Entering a value of 0 initializes the filter as an unattenuated bandstop filter. The value set in MD 5270 must not exceed twice the value set in MD 5269.  Siemens AG, 2003. All rights reserved 4-123 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 124: Manipulated Voltage Output
100% (see also Subsection 2.3.1 and Appendix A). Output 100% MD 5462 -100% Input 100% -100% - MD 5463 -200% Fig. 4-14 Example of piston surface adaptation characteristic  Siemens AG, 2003. All rights reserved 4-124 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 125 POS_DUAL_GAIN_COMP_Z_VOL T [n] Knee-point compensation pos. voltage in zero range Related to: Protection level: Unit: Default: Minimum: Maximum: Data type: Active: 95.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-125 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 126 Cross reference: - DUAL_GAIN_COMP_SMOOTH_RANGE [n] Rounding range for knee-point compensation Related to: Protection level: Unit: Default: Minimum: Maximum: Data type: Active: 10.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-126 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 127 POS_DUAL_GAIN_COMP_S_VOL T [n] Knee-point compensation pos. voltage saturation Related to: Protection level: Unit: Default: Minimum: Maximum: Data type: Active: 100.0 100.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-127 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 128 MD 5485 = 90% MD 5486 = 70% U [%] Fig. 4-16 Example For a more detailed explanation, see also Subsection 2.3.1 and Appendix A.  Siemens AG, 2003. All rights reserved 4-128 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 129 When closed-loop force control is active (MD 5241), offset compensation is absolutely necessary because the I component of the velocity controller is deactivated with closed-loop force control.  Siemens AG, 2003. All rights reserved 4-129 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 130: Control Output Filter
<10 Hz for the natural frequency of the low pass initializes the filter as a proportional element with a gain of 1, irrespective of the associated damping.  Siemens AG, 2003. All rights reserved 4-130 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 131 Entering a value of 0 initializes the filter as an unattenuated bandstop filter. The value set in MD 5290 must not exceed twice the value set in MD 5289.  Siemens AG, 2003. All rights reserved 4-131 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 132: Manipulated Voltage Limitation
5476 in order to compensate for differences in sign in the piping or wiring. Alter- natively, the wiring of the manipulated variable for the valve could be altered. Definition of direction: See Subsection 3.9.1.  Siemens AG, 2003. All rights reserved 4-132 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 133: Supply Unit Data
MD 5101 defines the pressure supplied by the hydraulic power unit. MD 5102 defines the pressure for a pilot-actuated valve. Zero must be entered valves without pilot actuation.  Siemens AG, 2003. All rights reserved 4-133 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 134: Valve
Related to: Protection level: Note: MD 5465 and MD 5468 are preset Unit: Default: Minimum: Maximum: Data type: Active: 10.0 95.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-134 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 135 Bit 3= 0: No differential circuit 1: Differential circuit Bit4= 0: 7-pin connector 1: 12-pin connector Unit: Default: Minimum: Maximum: Data type: Active: UNS.WORD Immediately  Siemens AG, 2003. All rights reserved 4-135 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 136: Cylinder Drive
The dead volume attributable to the pipework is separately parameterized (MD 5141 to MD 5143). For a more detailed explanation of the cylinder data, see also Subsection 2.3.1 and Appendix A.  Siemens AG, 2003. All rights reserved 4-136 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 137: Drive Data
The movement of the piston rod is transmitted to other mechanical components (e.g. table, tools, ...). The total moved mass must be specified as a machine data (MD 5150).  Siemens AG, 2003. All rights reserved 4-137 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 138 MD 5150 Positive sign in MD5151 Negative sign in MD5151 MD 5150 Fig. 4-17 Mounting position of drive referred to A end  Siemens AG, 2003. All rights reserved 4-138 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 139 “Calculate controller data”. Example: Damping of 0.9 Slow closed-loop system with infrequent overshoots Damping of 0.5 Fast closed-loop system with frequent overshoots  Siemens AG, 2003. All rights reserved 4-139 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 140: Position Measuring System
Micropulse 25-bit Visolux: EDM Notice The products recommended above are not manufactured by Siemens, but we know that they are suitable for the purpose in principle. However, we can never guarantee the quality of products supplied by other manufacturers. SSI encoders are likely to have lower noise immunity due to the encoder and the 24 V power supply. The immunity to...
Page 141 Bit 14=0: 100 kHz data transfer rate (absolute value encoder) 1: 500 kHz data transfer rate (absolute value encoder) Unit: Default: Minimum: Maximum: Data type: Active: 65535 UNS.WORD Power On  Siemens AG, 2003. All rights reserved 4-141 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 142 SSI zero level monitoring Bit 14 and 15: SSI idle level monitoring Unit: Default: Minimum: Maximum: Data type: Active: BFFF UNS.WORD Immediately  Siemens AG, 2003. All rights reserved 4-142 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 143 Message frame length SSI Related to: Protection level: (HLA 01/02/04 or later) Unit: Default: Minimum: Maximum: Data type: Active: WORD Power On  Siemens AG, 2003. All rights reserved 4-143 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 144 If the actual position is available in machine coordinates in the drive after the reference point approach, it can be applied to calculate the piston position (e.g. for adaptation).  Siemens AG, 2003. All rights reserved 4-144 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 145: Pressure Sensing System
The pressure indicator should also display 0 bar at zero pressure. If the velocity controller cycle is altered, the offset must be adjusted again. Note For automatic offset adjustment, see Subsection 3.9.2.  Siemens AG, 2003. All rights reserved 4-145 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 146: Terminals
The 24 V voltage for the shut-off valve and valve electronics is supplied from an supply external source connected via the HLA module.  Siemens AG, 2003. All rights reserved 4-146 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 147 If this operation were to take place under pressure, the drive would move. If no shut-off valve is connected, zero can be entered as the power enabling delay period.  Siemens AG, 2003. All rights reserved 4-147 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 148 Output value delay MD 5531 Status bit Velocity controller enable Effective velocity setpoint Fig. 4-20 Chronological sequence after connection of 24 V supply, without shut-off valve  Siemens AG, 2003. All rights reserved 4-148 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 149 After the 24 V supply for the shut-off valve has been switched on, the status word “Velocity controller enable” is not set until the manipulated variable enable delay has run down.  Siemens AG, 2003. All rights reserved 4-149 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 150 24 V supply for shut-off and SS valves ON, power enable signal set and No error then the “Velocity controller enable” status bit is set.  Siemens AG, 2003. All rights reserved 4-150 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 151 This LED indicates that the drive unit is ready (SIMODRIVE Ready terminal 72/73 -> device bus; cannot be changed by MD 5012).  Siemens AG, 2003. All rights reserved 4-151 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 152: Monitoring Functions
Bit 12: “Force limitation OFF” Bit 13: “External valve voltage supply check Off” (“26.5 V monitoring”” Unit: Default: Minimum: Maximum: Data type: Active: FFFF UNS.WORD Immediately  Siemens AG, 2003. All rights reserved 4-152 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 153 Time for velocity controller at limit Related to: Protection level: Unit: Default: Minimum: Maximum: Data type: Active: 200.0 20.0 1000.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-153 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 154: Variable Signaling Functions
Maximum: Data type: Active: UNS.WORD Immediately Note Bit 1 is only effective, if the signal number 0 is selected in MD 1651:PROG_SIGNAL_NR.  Siemens AG, 2003. All rights reserved 4-154 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 155 PLC message, i.e. reset it to 0. If the message must be re-initialized, the monitoring function must be switched off and on again via MD 5620, bit 0, after the MD setting has been changed.  Siemens AG, 2003. All rights reserved 4-155 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 156 MD 5709 Feedforward control component force controller MD 5709 Force controller output MD 5709 Zero mark signal BERO signal See Subsection 4.14.3  Siemens AG, 2003. All rights reserved 4-156 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 157 Depending on MD 5620: PROG_SIGNAL_FLAGS, the numerical value entered in MD 5624 is interpreted as an unsigned value (bit 2 = 0) or a signed value (bit 2 = 1).  Siemens AG, 2003. All rights reserved 4-157 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 158 Changing the settings in MD 5625: PROG_SIGNAL_ON_DELAY and MD 5626: PROG_SIGNAL_OFF_DELAY affects a time watchdog that is already running. The monitor is initialized with the new time settings.  Siemens AG, 2003. All rights reserved 4-158 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 159: Service Functions
8 (see Section 4.4). 4.14.1 Min/max display Note Machine data MD 5651 to MD 5654 are relevant only for internal Siemens functions and must not be changed. 5651 MINMAX_SIGNAL_NR Cross reference: -...
Page 160: Monitor
Data type: Active: FFFFFF UNS.DWORD Immediately 4.14.2 Monitor Note Machine data MD 5655 to MD 5659 are relevant only for internal Siemens functions and must not be changed. 5655 MONITOR_SEGMENT Cross reference: - Monitor memory location segment Related to: Protection level:...
Page 161: Diagnostic Machine Data
Defines the pressure in [bar] corresponding to 1 increment of the internal pressure format. Unit: Default: Minimum: Maximum: Data type: Active: -240000.0 240000.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-161 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 162 Piston position in relation to piston zero Related to: Protection level: Unit: Default: Minimum: Maximum: Data type: Active: -10000000.0 10000000.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-162 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 163 DESIRED_CYL_FORCE Cross reference: - Cylinder force setpoint Related to: Protection level: Unit: Default: Minimum: Maximum: Data type: Active: -10000000.0 10000000.0 FLOAT Immediately  Siemens AG, 2003. All rights reserved 4-163 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 164 FFFFFF UNS.DWORD Read-only Output of current software release. The display is decimal, e.g. 21000. This is the code for SW version 2.10/00.  Siemens AG, 2003. All rights reserved 4-164 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 165: Parameters Table
4 or 14: Keyswitch position 3 5 or 15: Keyswitch position 2 6 or 16: Keyswitch position 1 7 or 17: Keyswitch position 0  Siemens AG, 2003. All rights reserved 4-165 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 166 Hex values (from 0000 to FFFF) DWORD Hex values (from 00000000 to FFFFFFFF) - 37 FLOAT DWORD Real values (from “8.43*10 to ”3.37*10 Version HLA firmware 1.02.12  Siemens AG, 2003. All rights reserved 4-166 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 176 Measuring system (encoder connection) Pressure sensor Servo solenoid valve DACs Drive bus Device bus Fig. 5-1 HLA closed-loop control plug-in module (2-axis)  Siemens AG, 2003. All rights reserved 5-176 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 177 5 Hardware Drive Functions 10.03 5.1 Interface overview Axis 1 Axis 2 F1900 F1901 Fig. 5-2 Location diagram of HLA closed-loop control module  Siemens AG, 2003. All rights reserved 5-177 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 178: Measuring System
M (GND) M (GND) Ground (for internal shields) BMICLK0 BMICLK2 Clock signal EnDat or SSI interface XBMICLK0 XBMICLK2 Inverse clock signal, EnDat interface  Siemens AG, 2003. All rights reserved 5-178 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 179: Pressure Sensor System
The supply output is designed for a total current (4 sensors) of 200 mA. Pressure sensor power supply via 26.5 V "2% according to external supply.  Siemens AG, 2003. All rights reserved 5-179 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 180: Servo Solenoid Valve
Value: 2.5 AF/250 V; 5x20 mm UL From: Wickmann-W erke GmbH Annenstraße 113 58453 Witten PO Box 2520 58415 Witten Order No.:  Siemens AG, 2003. All rights reserved 5-180 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 181: Terminals
If the polarity of the 24 V supply is reversed, then the shut-off valves will open immediately, even if the NC or closed-loop control is not in operation! I=Input; O=Output  Siemens AG, 2003. All rights reserved 5-181 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 182: Test Sockets (Diagnostics)
The nor- malization factor is calculated as the parameters are set and displayed as user info, e.g. 1V = 22.5A.  Siemens AG, 2003. All rights reserved 5-182 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 183: Bus Interfaces
X141: Input X341: Output A bus terminator must be plugged into the last module. Device bus (see SIMODRIVE 611A/D) X151: Device bus  Siemens AG, 2003. All rights reserved 5-183 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 184: System Environment
X112 X121 X122 Bus terminator Drive bus Device bus SIEMENS SIMODRIVE Mains supply (840D) module Fig. 5-5 Component layout for hydraulic drive  Siemens AG, 2003. All rights reserved 5-184 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 185: Notes
IEC 68, part 2-27) 30 ms for device with disk drive Current reduction above 40°C at the servo solenoid valve output, see Subsection 5.1.3.  Siemens AG, 2003. All rights reserved 5-185 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 186: Transport And Storage Conditions
Frequency range Const. Deflection IEC 68-2-6) 5 - 9 Hz 3.5 mm Ampl. of acceleration Over 9 - 500 Hz 10 m/s  Siemens AG, 2003. All rights reserved 5-186 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 187: Stress Caused By Contaminants
When working in areas where there is an unacceptably high dust hazard, the control must be operated in a cabinet with a heat exchanger or in a cabinet with dust a suitable air intake.  Siemens AG, 2003. All rights reserved 5-187 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 189: Hydraulics Diagnostics
For a description of the alarms with error numbers 300 000 to 300 499, please refer to documentation 300 499 References: /DA/, Diagnostics Guide  Siemens AG, 2003. All rights reserved 6-189 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 190 The search for the precise cause of error can only be performed by the develop- ment team. The displayed error codes are always needed for this. SIEMENS AG, After-Sales Support for A&D MC Products, Hotline. Continue program Switch control system OFF and ON again.
Page 191 (offset in setpoint transfer time) to correct value using machine data MD10083: CTRLOUT_LEAD_TIME_MAX (maximum settable offset in setpoint transfer time). Continue program Switch control system OFF and ON again.  Siemens AG, 2003. All rights reserved 6-191 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 192 Remedy Please inform the authorized personnel/service department. Use original Siemens pre-assembled encoder cables (high degree of shield protection). Check encoder, encoder cable for cable break and shield bonding point. Check shielding surface on front panel (top screw), replace closed-loop control mod- ule.
Page 193 This alarm can only occur with OEM users who have the 611D drive without the standard NCK interface. In this instance, it is possible to transfer different axial drive clock cycles to the 611D modules.  Siemens AG, 2003. All rights reserved 6-193 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 194 Please inform the authorized personnel/service department. MD 10082: CTROUT_LEAD_TIME (offset in setpoint transfer time). Continue program Switch control system OFF and ON again.  Siemens AG, 2003. All rights reserved 6-194 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 195 The alarm can be reconfigured using MD 11412: ALARM_REACTION_CHAN_NOREADY (channel not ready).  Siemens AG, 2003. All rights reserved 6-195 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 196 Bit 4 Undervoltage Bit 5 Overcurrent Bit 6 Battery change necessary Bit 7 CRC error (evaluate bit 13 as well) See 1)  Siemens AG, 2003. All rights reserved 6-196 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 197 Controller hardware not suitable for EnDat interface (e.g. closed-loop control module with EPROM) Continue program Switch control system OFF and ON again.  Siemens AG, 2003. All rights reserved 6-197 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 198 %2 = drive number The speed controller output has been at its limit for an impermissibly long time (MD 5605: SPEEDCTRL_LIMIT_TIME (speed controller limit threshold).  Siemens AG, 2003. All rights reserved 6-198 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 199 SPEEDCTRL_LIMIT_THRESHOLD to match the mechanical and dynamic features of the axis. Continue program Cancel alarm in all channels of this mode group by pressing RESET. Restart part program.  Siemens AG, 2003. All rights reserved 6-199 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 200 Continue program Cancel alarm in all channels of this mode group by pressing RESET. Restart part program.  Siemens AG, 2003. All rights reserved 6-200 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 201 Activate force limitation: MD 5241: Set bit 0 Continue program Cancel alarm in all channels of this mode group by pressing RESET. Restart part program.  Siemens AG, 2003. All rights reserved 6-201 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 202 Axis %1, drive %2 invalid monitoring cycle Explanation %1 = NC axis number %2 = drive number Monitoring cycle MD 5002: MONITOR_CYCLE_TIME (monitoring cycle) is in- valid.  Siemens AG, 2003. All rights reserved 6-202 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 203 Remedy MD 5002: MONITOR_CYCLE_TIME (monitoring cycle) to an identical value for both axes. Continue program Switch control system OFF and ON again.  Siemens AG, 2003. All rights reserved 6-203 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 204 The number of encoder marks of the motor measuring system in the drive MD 5005: ENC_RESOL_MOTOR (no. of encoder marks motor measuring sys- tem) is either zero or greater than the maximum input limit.  Siemens AG, 2003. All rights reserved 6-204 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 205 CYLINDER_PISTON_ROD_B_DIAMETER to a lower value than the piston di- ameter in drive MD 5131: CYLINDER_PISTON_DIAMETER. Continue program Switch control system OFF and ON again.  Siemens AG, 2003. All rights reserved 6-205 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 206 MD 5406: SPEEDCTRL_GAIN_A (gain at cylinder edge A end) MD 5407: SPEEDCTRL_GAIN (gain for piston position with lowest natural frequency) MD 5408: SPEEDCTRL_GAIN_B (gain at cylinder edge B end)  Siemens AG, 2003. All rights reserved 6-206 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 207 MD 5431: SPEEDCTRL_DIFF_TIME_A (gain at cylinder edge A end) or MD 5432: SPEEDCTRL_DIFF_TIME (gain for piston position with lowest natural frequency) or MD 5433: SPEEDCTRL_DIFF_TIME_B (gain at cylinder edge B end)  Siemens AG, 2003. All rights reserved 6-207 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 208 The positive area adaptation factor set in drive MD 5462: AREA_FACTOR_POS_OUTPUT is too high or the negative area adaptation factor set in drive MD 5463: AREA_FACTOR_NEG_OUTPUT is too high.  Siemens AG, 2003. All rights reserved 6-208 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 209 Channel not ready. NC stopped in response to alarm. NC start disable. The NC switches to follow-up mode. Alarm display. Interface signals are set.  Siemens AG, 2003. All rights reserved 6-209 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 210 Set an identical speed controller cycle MD 5001: SPEEDCTRL_CYCLE_TIME Continue program Cancel alarm in all channels by pressing RESET. Restart part program.  Siemens AG, 2003. All rights reserved 6-210 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 211 BSP blocking frequency drive MD 5213: OUTPUT_VCTRL_FIL_2_SUP_FREQ MD 5215 v 2 * MD 5213 Continue program Cancel alarm on all channels by pressing RESET. Restart part program.  Siemens AG, 2003. All rights reserved 6-211 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 212 Enter a lower value for the force controller P gain in MD 5242: FORCECTRL_GAING. Continue program Cancel alarm on all channels by pressing RESET. Restart part program.  Siemens AG, 2003. All rights reserved 6-212 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 213 Enter a valid controlled-system gain setting in drive MD 5240 FORCECONTROLLED_SYSTEM_GAIN (see Calculate Model Data). Continue program Cancel alarm on all channels by pressing RESET. Restart part program.  Siemens AG, 2003. All rights reserved 6-213 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 214 Enter a valid combination in the above drive MD. Continue program Cancel alarm on all channels by pressing RESET. Restart part program.  Siemens AG, 2003. All rights reserved 6-214 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 215 Enter a valid combination in the above drive MD. Continue program Cancel alarm on all channels by pressing RESET. Restart part program.  Siemens AG, 2003. All rights reserved 6-215 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 216 Rotary encoder: Single-turn resolution (increments per revolution) Linear encoder: Resolution of one increment (in nanometers) Continue program Switch control system OFF and ON again.  Siemens AG, 2003. All rights reserved 6-216 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 217 NC start disable. Alarm display. Interface signals are set. Remedy Set MD 5021 to 0. Continue program Switch control system OFF and ON again.  Siemens AG, 2003. All rights reserved 6-217 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 218 It might not be possible to increase the frequency with the length of encoder cable used. Continue program Switch control system OFF and ON again.  Siemens AG, 2003. All rights reserved 6-218 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 219: Peripherals/Accessories
Track signal *R Differential signal (R - *R) Mech. angle ϕ Fig. 7-1 Required signal chart of measuring system signals for data definition  Siemens AG, 2003. All rights reserved 7-219 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 220 -150 -500 direct(R) α1; α2 Uniqueness range Degrees +...Un 1) Definition for harmonic distortion: k = Fundamental component +...Un U1...Un: Harmonic components  Siemens AG, 2003. All rights reserved 7-220 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 221 If signals which do not conform to this specification are used, problems such as speed ripple, positioning inaccuracy or other malfunctions may be encountered.  Siemens AG, 2003. All rights reserved 7-221 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 222: Connection Diagrams
Example showing connection options for measuring system cable Adapter cable can be ordered from supplier of linear scale. MTS: Order code 252 882 Balluff: BKS-S 32M/SA1-jj Visolux: ASK EDM-SSI-SIMODRIVE  Siemens AG, 2003. All rights reserved 7-222 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 223 12-pin connector 6FX2003-0CE12 Order No. (MLFB) of measuring system lead: 6FX2002-2CA11-1 VVV Fig. 7-4 Measuring system lead for encoder with voltage signals (X101/X102)  Siemens AG, 2003. All rights reserved 7-223 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 224 17-pin connector 6FX2003-0CE17 Order No. (MLFB) of lead: 6FX2002-2AD00-1 VVV Fig. 7-5 Measuring system lead for encoder with voltage signals + EnDat (X101/X102)  Siemens AG, 2003. All rights reserved 7-224 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 225 02.99 7 Peripherals/Accessories 10.03 7.1 Measuring systems Fig. 7-6 Measuring system lead for SSI encoder  Siemens AG, 2003. All rights reserved 7-225 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 226: Bero (X432)
BERO (external reference system) axis 1/2 Power supply for BERO ground external Power supply for BERO 24 V external 1) I: Input, O: Output  Siemens AG, 2003. All rights reserved 7-226 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 227: Pressure Sensor
Sensors with a signal voltage of U=0...10 V are available in the following vari- pressure sensor ants for the HLA module: (recommended types)  Siemens AG, 2003. All rights reserved 7-227 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 228 Ref. 0 V (signal) Supply Fig. 7-7 Rexroth pressure sensors, order nos. 0811 405 540, 0811 405 547 and 0811 405 554  Siemens AG, 2003. All rights reserved 7-228 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 229 Rexroth order no. 1 834 484 141 IP 40 Fig. 7-9 Accessories for pressure sensors with order nos. 0811 405 531 and 0811 405 532  Siemens AG, 2003. All rights reserved 7-229 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 230 For replacement purposes, it can be ordered under order no.: 1 834 484 061 or 1 834 484 063 from Bosch Rexroth AG.  Siemens AG, 2003. All rights reserved 7-230 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 231: Connection Diagrams
Bosch Rexroth order no.: 1 834 484 141 Order No. (MLFB) of signal lead for pressure sensors: 6FX2002-2AD00-1 VVV Fig. 7-10 Signal lead for pressure sensors (X111/X112)  Siemens AG, 2003. All rights reserved 7-231 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 232: Connection Diagrams For Servo Solenoid Valves
Order No. (MLFB) of signal lead for 7-pin servo solenoid valve: 6FX2002-2BA00-1 VVV Fig. 7-11 7-pin signal lead for servo solenoid valve (X121/X122) - standard version  Siemens AG, 2003. All rights reserved 7-232 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 233 Signal lead 4x(2x0.38) + 4x0.5 C 6FX2008-1BD21 7-pin socket connector Valve-specific Fig. 7-12 Interconnection diagram for 7-pin servo solenoid valve (X121/X122) - connection option 2 (customized)  Siemens AG, 2003. All rights reserved 7-233 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 234 Order No. (MLFB) of signal lead for 12-pin HR servo solenoid valve: 6FX2002-2BA10-1 VVV Fig. 7-13 12-pin signal lead for HR servo solenoid valve (X121/X122)  Siemens AG, 2003. All rights reserved 7-234 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 235 Rexroth 1 834 484 142 connection Hirschmann NIIR EF K B0 Design Contacts Order No. Fig. 7-15 Dimension diagram of circular, 12-pin connector  Siemens AG, 2003. All rights reserved 7-235 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 236 02.99 7 Peripherals/Accessories 10.03 7.4 Connection diagrams for servo solenoid valves Notes  Siemens AG, 2003. All rights reserved 7-236 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 237: Service
Note Neither company bears sole responsibility for the overall installation. Siemens and Bosch Rexroth shall not be responsible unless they have actually supplied the components listed in Table 8-1 or have explicitly certified that components supplied by other manufacturers are compatible with the system.
Page 238: Hotline And Contacts
Phone: +49 (0)173 / 3636036 (standby) E-mail: [email protected] Internet address Up-to-date information about the products can be found on the Internet at the following address: http://www.boschrexroth.de  Siemens AG, 2003. All rights reserved 8-238 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 239: A.1 Servo Solenoid Valves
Î Î Î Î Î Î Î Î Î Î Î Î Î Î Î Î Î Î Î Î Î Fig. A-1 Sliding spool principle  Siemens AG, 2003. All rights reserved A-239 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 240 If the valve has a fail-safe position, then the valve spool moves into a fourth (safety) position when the valve is not powered. There are two alternative posi- tions.  Siemens AG, 2003. All rights reserved A-240 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 241 Reset spring Actuating solenoid Position sensor Setpoint Valve amplifier =0..."10 V with position control Fail-safe closed Fail-safe open Fig. A-3 Graphical symbol  Siemens AG, 2003. All rights reserved A-241 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 242 The following graphical representation of the measurement, which covers all 4 control edges, shows this clearly. ∆p ∆p/p Fig. A-5 Pressure amplification  Siemens AG, 2003. All rights reserved A-242 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 243 Î Î Î Î Î Î Î Î Î Î Î Î Î Î Spool stroke Fig. A-7 Control window in spool sleeve  Siemens AG, 2003. All rights reserved A-243 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 244 The corresponding valve data are stored in the HLA module and automatically parameterized when the order number is entered. Valve characteristic Linearized characteristic compensation Fig. A-10 Electrical valve knee compensation  Siemens AG, 2003. All rights reserved A-244 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 245 Signal 100 U -140 -120 Signal 5% U -100 at -90° 40 60 80100 200 300 f [Hz] Fig. A-11 Dynamic response of valve  Siemens AG, 2003. All rights reserved A-245 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 246 (fluid) must be main- tained. The objective is contamination class 7...9 to NAS 1638. This can normally be achieved with a pressure filter β =75.  Siemens AG, 2003. All rights reserved A-246 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 247: A.1.2 Directly-Controlled Servo Solenoid Valves, Sizes 6 And 10
Actuating solenoid Steel sleeve Actuating LVDT ferrite core armature solenoid coil Fig. A-13 Directly-controlled servo solenoid valves, sizes 6 and 10 (Rexroth)  Siemens AG, 2003. All rights reserved A-247 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 248 Protective Logic conductor Shield +U B Fig. A-14 Valve amplifier block diagram for directly-controlled servo solenoid valves, sizes 6 and 10 (Rexroth)  Siemens AG, 2003. All rights reserved A-248 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 249: A.1.3 Pilot-Controlled Servo Solenoid Valves, Sizes 10 And 16
The integral valve amplifier is mounted on the pilot valve assembly and contains both position control loops. A cable is used to connect the position sensor on the main stage to the amplifier.  Siemens AG, 2003. All rights reserved A-249 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 250 Graphic symbol in simplified form Fig. A-15 Directly-controlled servo solenoid valves, sizes 10 and 16 example of an external control fluid port (Rexroth)  Siemens AG, 2003. All rights reserved A-250 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 251 A Hydraulics 10.03 A.1 Servo solenoid valves Fig. A-16 Valve amplifier block diagram for pilot-controlled servo solenoid valves, sizes 10 and 16 (Rexroth)  Siemens AG, 2003. All rights reserved A-251 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 252: A.1.4 Hr Servo Solenoid Valves
Graphic symbol in simplified form Valve amplifier Steel sleeve Valve spool Double-stroke solenoid Position encoder Fig. A-17 Directly-controlled HR servo solenoid valve (Rexroth)  Siemens AG, 2003. All rights reserved A-252 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 253 A Hydraulics 10.03 A.1 Servo solenoid valves Fig. A-18 Valve amplifier block diagram for directly-controlled HR servo solenoid valves (Rexroth)  Siemens AG, 2003. All rights reserved A-253 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 254: A.2 Cylinder
The maximum piston stroke and cylinder dead volume are also required. Through-rod cylinder Differential cylinder Fig. A-19 Cylinder principle  Siemens AG, 2003. All rights reserved A-254 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 255 The dead volume is set in the HLA module (MD 5135, MD 5136 and MD 5141...5143).  Siemens AG, 2003. All rights reserved A-255 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 257 Interface Module Address Industry Standard Architecture Light Emitting Diode LVDT Linear Variable Differential Transducer M24EXTIN Input for 0 V external Machine Control Panel  Siemens AG, 2003. All rights reserved B-257 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 258 Synchronous Rotary Motor (drive configuration) Software Tank port (return), servo solenoid valve Term. Terminal Unstabilized power supply Velocity control loop Video graphics adapter  Siemens AG, 2003. All rights reserved B-258 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 259 Pressure at B end of cylinder Pump pressure Pressure difference (nominal pressure drop) Nominal flowrate of servo solenoid valve Flow rate of servo solenoid valve valve  Siemens AG, 2003. All rights reserved C-259 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 260 02.99 C Terms 10.03 Valve setpoint set valve Velocity setpoint Actual velocity value Position setpoint Actual position value Valve spool position valve  Siemens AG, 2003. All rights reserved C-260 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 261 Electronic Documentation /CD1/ The SINUMERIK System (03.04 Edition) DOC ON CD (includes all SINUMERIK 840D/840Di/810D/802D/802SC and SIMODRIVE publications) Order No.: 6FC5 298-7CA00-0BG4  Siemens AG, 2003. All rights reserved D-261 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 262 /BAT/ SINUMERIK 840D/810D (06.03 Edition) Operation/Programming ShopTurn Order No.: 6FC5298-6AD50-0BP2 /BEM/ SINUMERIK 840D/810D (11.02 Edition) Operator’s Guide HMI Embedded Order No.: 6FC5298-6AC00-0BP2  Siemens AG, 2003. All rights reserved D-262 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 263 SINUMERIK 840D/840Di/810D (10.00 Edition) Short Guide Programming Order No.: 6FC5298-6AB30-0BP0 /PGM/ SINUMERIK 840D/840Di/810D (11.02 Edition) Programming Guide ISO Milling Order No.: 6FC5298-6AC20-0BP2  Siemens AG, 2003. All rights reserved D-263 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 264 (07.03 Edition) Planning Guide 1PH4 Asynchronous Motors Order No.: 6SN1197-0AC64-0BP0 /APH7/ SIMODRIVE (06.03 Edition) Planning Guide 1PH7 Asynchronous Motors Order No.: 6SN1197-0AC65-0BP0  Siemens AG, 2003. All rights reserved D-264 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 265 Planning Guide 1FT5 Three-Phase AC Servomotors Order No.: 6SN1197-0AD01-0BP0 /PFT6/ SIMODRIVE (05.03 Edition) Planning Guide 1FT6 Three-Phase AC Servomotors Order No.: 6SN1197-0AD02-0BP0  Siemens AG, 2003. All rights reserved D-265 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 266 Order No.: 6SN1197-0AC20-0BP0 /PJM2/ SIMODRIVE (07.03 Edition) Planning Guide Servomotors Three-Phase AC Motors for Feed and Main Spindle Drives Order No.: 6SN1197-0AA20-0BP4  Siemens AG, 2003. All rights reserved D-266 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 267 (the various sections are listed below) Order No.: 6FC5297-6AC20-0BP3 Various Interface Signals Axis Monitoring, Protection Zones Continuous-Path Mode, Exact Stop and Look Ahead Acceleration Diagnostic Tools  Siemens AG, 2003. All rights reserved D-267 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 268 3-Axis to 5-Axis Transformation Gantry Axes Cycle Times Contour Tunnel Monitoring Coupled Motion and Leading Value Coupling Constant Workpiece Speed for Centerless Grinding Tangential Control  Siemens AG, 2003. All rights reserved D-268 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 269 Description of Functions DNC NC Program Management Order No.: 6FC5297-1AE80-0BP0 DNC Plant / DNC Cell DNC IFC SINUMERIK, NC Data Transfer via Network  Siemens AG, 2003. All rights reserved D-269 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 270 Introduction to Configuring of Operator Interface Screen Kit: Software Update and Configuration /FBP/ SINUMERIK 840D (03.96 Edition) Description of Functions C-PLC Programming Order No.: 6FC5297-3AB60-0BP0  Siemens AG, 2003. All rights reserved D-270 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 271 Motion Control Information System (MCIS) Description of Functions TPM Total Productive Maintenance, Version 3.0 Order No.: Document is supplied with the software  Siemens AG, 2003. All rights reserved D-271 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 272 (07.03 Edition) User’s Guide Distributed Servo Drive Systems Order No.: 6SN2197-0AA20-0BP4 /POS4/ SIMODRIVE POSMO SI (04.02 Edition) Installation Guide (enclosed with POSMO SI)  Siemens AG, 2003. All rights reserved D-272 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 273 Start-Up /BS/ SIMODRIVE 611 analog (10.00 Edition) Description Start-Up Software for Main Spindle and Asynchronous Motor Modules Version 3.20 Order No.: 6SN1197-0AA30-0BP1  Siemens AG, 2003. All rights reserved D-273 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 274 “Sandwich-plate valves” catalog Rexroth Order no.: 1 987 761 012 /BR4/ Robert Bosch GmbH, “Electro-hydraulic Proportional and Closed-loop Control Systems” book ISBN 3-933698-00-6  Siemens AG, 2003. All rights reserved D-274 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 275 A complete copy of the EC Declaration of Conformity can be found in the “EMC Installation Guidelines” for the SINUMERIK, SIROTEC and SIMODRIVE controls.  Siemens AG, 2003. All rights reserved E-275 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 277 EMC-compliant system design in the product documentation and the EMC design guidelines for SINUMERIK, SIROTEC and SIMODRIVE (order no.: 6FC5297-0AD30-0BP0) must be carefully observed and implemented.  Siemens AG, 2003. All rights reserved E-277 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 278 VDE 0847 part 4-3 VDE 0843 part 4 ENV 50140 VDE 0847 part 4-4 IEC 801-4 VDE 0847 part 204 VDE 0160 part 100  Siemens AG, 2003. All rights reserved E-278 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 279 Response sensitivity, A-246 Construction of an electro-hydraulically controlled Circularity test, 3-88 drive axis, 1-18 Climatic environmental conditions, 5-185 Contaminants, 5-187 Closed-loop control functions, 4-99  Siemens AG, 2003. All rights reserved Index-279 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 280 Dust, hazardous, 5-187 Interfaces on mains supply module, 2-28 Dynamic drive model data, 4-139 Internet address, 8-238 Dynamic stiffness control (DSC), 4-114  Siemens AG, 2003. All rights reserved Index-280 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 281 Preferred range of shut-off valves, 2-41 Offset adjustment Offset of pressure sensors, 3-64 Offset of valve manipulated voltage, 3-65 Reference value for pressure sensors, 3-65  Siemens AG, 2003. All rights reserved Index-281 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 282 Function switch, 4-151 Velocity setpoint interpolation, 4-99 ON/OFF sequence, 4-146 Velocity setpoint limitation, 4-105 Setup mode, 4-151 Vibration stressing, 5-185 Velocity controller disable, 4-151  Siemens AG, 2003. All rights reserved Index-282 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 283 X112, 5-179 Weighting factor, 2-45 X121, 5-180 X122, 5-180 X141, 5-183 X151, 5-183 X341, 5-183 X101, 5-178 X431, 5-181 X102, 5-178 X432, 5-181  Siemens AG, 2003. All rights reserved Index-283 SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition...
Page 285 Suggestions SIEMENS AG Corrections A&D MC BMS Publication/Manual: P.O. Box 3180 SINUMERIK 840D SIMODRIVE 611 digital D-91050 Erlangen Germany Description of Functions HLA Module Phone: +49 (0) 180 / 5050 - 222 [Service Support] Fax: +49 (0) 9131 / 98 - 2176 [Documentation] Manufacturer/Service Documentation E-mail: [email protected]...
Page 287 Documentation Overview SINUMERIK 840D/840Di/810D General Documentation User Documentation SINUMERIK SIROTEC SINUMERIK SINUMERIK SINUMERIK SINUMERIK SINUMERIK SINUMERIK SIMODRIVE 840D/810D Accessories 840D/810D/ 840D/840Di 840D/840Di/ 840D/840Di/ 840D/840Di/ FM-NC 810D 810D 810D 810D/ Brochure Catalog Catalog AutoTurn Operating Operating Diagnostics NC 60 *) Accessories - Product Brief Instructions Guide *)
Page 288 Siemens AG Automation and Drives Motion Control Systems © Siemens AG 2003 P.O. Box 3180, D – 91050 Erlangen Subject to change without prior notice Germany Order No.: 6SN1197-0AB60-0BP3 Printed in Germany www.siemens.com...

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Simodrive 611 digital Sinumerik 840dieSinumerik 840dSinumerik 840de Sinumerik 840di

Siemens Sinumerik 840D Series Function Manual

1 General

2 Configuration

3 Installation and Start-Up

4 Firmware Drive Functions

5 Hardware Drive Functions

6 Hydraulics Diagnostics

7 Peripherals/Accessories

8 Service

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