Starting up
7-22
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Optimization of stepper motor control
The following table shows you how to make parameter quality selection for any
given axis dynamic response desired. The time values MD46 and MD47 are added
to the previously documented machine data from basic startup. These times are
essentially needed on a stepper drive-specific basis. They amount to a few ms.
However, should the axis machinery have a tendency to vibrate, they can be used
e.g. in the case of seamless transition between acceleration and delay (e.g. when
traversing short distances), in order to prevent the resultant doubling of accelera-
tion jump, or to permit the vibration which is induced at this discontinuous location,
to die out by adding a constant travel time.
Table 7-5 Effect of dynamic-defining MDs
MD39 MD41 MD42...45 MD46 MD47
Soft travel behavior small − small great great
Suppression of resonance great − great great great
Short positioning time great great great small small
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