Detailed Description
2.4 Closed-loop control
Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
2-53
⇒ For machine data:
MD32910 $MA_DYN_MATCH_TIME[n] (dynamic response adaptation time constant)
the following values are achieved:
Axis 1: 0 ms
Axis 2: 10 ms
Axis 3: 6 ms
Approximation formulae
The equivalent time constant of the position control loop of an axis is calculated according to
the following formula:
• No feedforward control is active
0'326&75/B*$,1>V@
ป
7
6SDUHV
• Speed feedforward control
0'(48,9B63(('&75/B7,0(
ป
7
6SDUHV
• Torque feedforward control
0'(48,9B&855&75/B7,0(
ป
7
6SDUHV
Note
If a geometry axis is subject to dynamic response adaptation, the same dynamic behavior is
also required of all other geometry axes and can be activated with the setting:
MD32900 $MA_DYN_MATCH_ENABLE= 1.
References:
/IAD/ "Installation & Startup Guide", SINUMERIK 840D/611D
/IAC/ "Installation & Startup Guide", SINUMERIK 810D
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