Detailed description
2.4 Closed-loop control
Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
63
2.4.2 Parameter sets of the position controller
Six different parameters sets
The position control can operate with 6 different servo parameter sets.
They are used as follows
1. Fast adaptation of the position control to altered machine characteristics during operation,
e.g., a gear change of the spindle.
2. Matching the dynamics of an axis to another axis, e.g., during tapping.
Parameter set changeover
The following machine data can be changed by switching over the parameter set during operation:
Denominator load gearbox MD31050 $MA_DRIVE_AX_RATIO_DENOM[n]
Numerator load gearbox MD31060 $MA_DRIVE_AX_RATIO_NUMERA[n]
K
v
factor MD32200 $MA_POSCTRL_GAIN[n]
Backlash compensation MD32452 $MA_BACKLASH_FACTOR[n]
Feedforward control factor MD32610 $MA_VELO_FFW_WEIGHT[n]
MD36012 $MA_STOP_LIMIT_FACTOR[n]
MD36000 $MA_STOP_LIMIT_COARSE
MD36010 $MA_STOP_LIMIT_FINE
Exact stop limits
and zero-speed window
MD36030 $MA_STANSTILL_POS_TOL
Equivalent time constant
current control loop for torque feedforward
control
MD32800 $MA_EQUIV_CURRCTRL_TIME[n]
Equivalent time constant
speed control loop for speed feedforward control
MD32810 $MA_EQUIV_SPEEDCTRL_TIME[n]
Time constant for dynamic response adaptation MD32910 $MA_DYN_MATCH_TIME[n]
Threshold value for velocity monitoring MD36200 $MA_AX_VELO_LIMIT[n]
Tapping or thread cutting
The following applies to parameter sets for axes:
• For machine axes not involved in tapping or thread cutting, parameter set 1 (index=0) is
always used.
The further parameter sets need not be considered.
• For machine axes involved in tapping or thread cutting, the same parameter set number
as for the current gear stage of the spindle is activated.
All parameter sets correspond to the gear stages and must therefore be parameterized.
The current parameter set is displayed in operating area "Diagnostics" in the "Service axis"
display. The parameter sets for gear stages 1 to 5 are referred to as interpolation
parameters.
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