08.2012 Technology Option F01
Siemens AG 6SE7087-6QX70 (Version AN)
SIMOVERT MASTERDRIVES Compendium Motion Control 9-169
In the section below entitled "General commissioning information", you
can read how to temporarily define more tolerant settings for following
error and "in position" monitoring (warnings A140...142) as long as the
position controller has not yet been optimized.
Please consult the section below entitled "Help, my axis won't start!" if
you have problems starting a traversing movement.
By selecting mode 3 (= MDI) and defining the start command (0 => 1
edge at [STA]) you can start a traversing operation with the MDI block
configured in "Setting the parameters for the positioning modes". If you
enter other target positions in U550.2 [823.5], you can approach
different destinations with a start command.
In many cases, an improved dynamic response can be achieved with
even smaller overshoot in movements by activating the speed
precontrol. To do this, set the following parameters:
; Wiring the speed precontrol KK312
P209.1=312 ; Apply speed precontrol setpoint [817.7] [836.8]
; to output of position controller [340.7]
The technology normally weights the precontrol value correctly,
provided that MD49 is 100 % and P353 contains the exact motor speed
that is reached at the maximum velocity in MD23. In special situations,
scaling is also possible with MD49 [817.5]. If the speed is correctly
precontrolled, output KK0132 and input r198 of the position controller
will now only perform slight correction movements around "0" [340.5].
The trace function in the MASTERDRIVES is highly suitable for
recording these signals. This function can be operated with
DriveMonitor.
When using software versions < 1.30, if you set jerk limiting [817.4] via
U505>0, you should not use the speed precontrol (KK312 = 0, see
[817.6]), because otherwise the position control and speed control will
"work against one another".
Setting the
monitoring systems
MDI positioning
Speed precontrol
Jerk limiting
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