Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
7.3 Setpoint/actual-value system
Turning, Milling, Nibbling
128 Function Manual, 11/2012, 6FC5397-1CP10-5BA0
Special features
MD30110 CTRLOUT_MODULE_NR[n] and MD30220 ENC_MODULE_NR[n] of one machine
axis must have the same drive number.
For operation of a digital spindle with a second direct position encoder, the following MD
must be set for the actual-value assignment. A reloadable SDB must be loaded from the
toolbox, granting access to the message frame type = 116 for the relevant drives. The
message frame type 116 must also be set in SINAMICS.
MD13060 DRIVE_TELEGRAM_TYPE[0-5] = 116
MD30220 ENC_MODULE_NR[n] = 3 (module no. for input 2nd spindle measuring system)
MD30230 ENC_INPUT_NR[n] = 2 (measuring system slot on the module)
MD32110 ENC_FEEDBACK_POL[n] = -1 (correct the direction)
7.3.4 Speed setpoint output
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Figure 7-5 Speed setpoint output
Traversing direction
MD32100 AX_MOTION_DIR (traversing direction) can be used to reverse the direction of
motion of the axis (without affecting the control sense of the position control).
Maximum speed setpoint
The maximum speed setpoint is defined with MD36210 CTRLOUT_LIMIT. The percent value
refers to the speed (100%) at which the axis velocity of MD32000 MAX_AX_VEL is reached.
A value greater than 100 % contains the required control margin for the position control of
axes.
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Figure 7-6 Speed setpoint output
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