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Hydaulic force limitation

Created by: DavidBrown at: 11/10/2014 9:43 PM (6 Replies)

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11/10/2014 9:43 PM	Rate (0)
DavidBrown Posts: 975 Rating: (9)	I have configured a hydraulic axis with force limitation. I have activated the axis, started a position control and afterwards activated force limiting. The system variable 'forceControllerData.state' is at 'Force limited. But I don't see an influence of the force controller. When I look at the force controller itself I see f.i. that even if there is a controllerdifference the P-gain does not result in an output value. Is there somewhere a limitation for the force controller to stay in the positive range, or is there something else wrong? Attachment ForceController.jpg (292 Downloads)
DavidBrown Posts: 975 Rating: (9)
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11/11/2014 9:43 AM	Rate (0)
Technology Team Platinum Expert Joined: 10/11/2006 Last visit: 1/16/2026 Posts: 6047 Rating: (828)	Hello, there is a difference between forcecontrol and forcelimiting. Force limiting generates a position offset. Please see manual 3.20 Force/pressure control..............................................................................................................192 3.21 Force/pressure limiting..............................................................................................................202 http://support.automation.siemens.com/WW/view/en/99007017
	With best regards, Technology Team Application consulting and pre sales support for SINAMICS, SIMATIC Technology, SIMOTION, SIMOTICS and MOTION CONNECT
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11/11/2014 4:42 PM	Rate (0)
DavidBrown Posts: 975 Rating: (9)	But what could be the reason for the pressure controller not working? Althoug I see clearly the state is 'Force limited'?
DavidBrown Posts: 975 Rating: (9)
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11/11/2014 5:12 PM	Rate (0)
DavidBrown Posts: 975 Rating: (9)	DavidBrown But what could be the reason for the pressure controller not working? Althoug I see clearly the state is 'Force limited'? Already solved, the force controller only works if the actual force is above the force setpoint.
DavidBrown Posts: 975 Rating: (9)
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11/11/2014 8:34 PM	Rate (0)
DavidBrown Posts: 975 Rating: (9)	If my axis is enabled, but no positioning is active anymore, position is still held, but if force limiting is activated and the force measurement sees a force increase the axis will react (which is normal), but a standstill error may be generated. I saw in the axis manual under 2.21 following info : Position-related monitoring (e.g. following error monitoring or positioning monitoring) are deactivated when pressure control is activated or via the pressure limitation command. You can configure the monitoring functions to remain active with external pressure/force limiting in the servoMonitoring.motionMonitoringWhenExternalForceLimiting configuration data element. Problem is that I do not find the configuration data element 'servoMonitoring.motionMonitoringWhenExternalForceLimiting'. I have SImotion D425-2 FW4.3.
DavidBrown Posts: 975 Rating: (9)
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11/12/2014 1:23 AM	Rate (0)
A.Gabardo Posts: 87 Rating: (7)	Hi everybody. Maybe you're searching this variable: _to.Axis_1.activeconfigdata.TypeOfAxis.ServoMonitoring.motionMonitoringWhenExternalForceLimiting This variable is a EnumYesNo, whith YES you are set the activation status of the control loop for activated limitation Hope this helps. Regards
A.Gabardo Posts: 87 Rating: (7)
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11/12/2014 8:21 AM	Rate (0)
Technology Team Platinum Expert Joined: 10/11/2006 Last visit: 1/16/2026 Posts: 6047 Rating: (828)	Hello, some hints: ##If my axis is enabled, but no positioning is active anymore## The position mode is still active, when axis is enabled in positionmode. Positioncontroller is working. Forcelimiting is a protection function, during the axis is in position mode. The forcelimiting controller is active, when the actual force value is higher then the setpoint. When the forcelimingcontroller is working - Position-related monitoring (e.g. following error monitoring or positioning monitoring) are deactivated - . Forcelimiting is no closed loop forcecontrol, it is only a protection function.
	With best regards, Technology Team Application consulting and pre sales support for SINAMICS, SIMATIC Technology, SIMOTION, SIMOTICS and MOTION CONNECT
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