Fundamentals
15.9 Spindle data
CNC Part 1 (NCK, PLC, drive)
Commissioning Manual, 11/2006, 6FC5397-2AP10-2BA0
301
MD31050 $MA_DRIVE_AX_RATIO_DENOM (Measuring gear denominator)
MD31060 $MA_DRIVE_AX_RATIO_NUMERA (Numerator load gear unit)
MD32200 $MA_POSCTRL_GAIN (Servo gain factor (Kv))
MD32452 $MA_BACKLASH_FACTOR (Weighting factor for backlash)
MD32610 $MA_VELO_FFW_WEIGHT (Weighting factor for feedforward control)
MD32800 $MA_EQUIV_CURRCTRL_TIME (Equivalent time constant current control circuit
for feedforward control)
MD32810 $MA_EQUIV_SPEEDCTRL_TIME (Equivalent time constant speed control loop for
feedforward control)
MD32910 $MA_DYN_MATCH_TIME (Time constant for dynamic matching)
MD36012 $MA_STOP_LIMIT_FACTOR (Factor for exact stop coarse/fine and zero speed
control)
MD36200 $MA_AX_VELO_LIMIT (Threshold value for velocity monitoring)
• The dynamic limits of the axis stored in the machine data are applicable in axis operation.
• The axis switches to the current feedforward control mode as designated by the MD and
the commands FFWON and FFWOF.
Other notes on the servo parameter set:
References:
/FB1/Function Manual, Basic Functions; Velocities, Setpoint/Actual-Value System,
Closed-Loop Control (G2)
• When using resolution changes in (analog) drive actuators, the following NC program
steps are required:
Table 15-12 Change over to axis mode:
SPOS=...
M5
Closed-loop controller enable off (by PLC)
→ Output to PLC
M70
Switch actuator (by PLC on account of M70)
Closed-loop controller enable on (by PLC)
C=...
NC travels with axis parameter set
Table 15-13 Switch back to spindle mode
C=...
M71
→ Output to PLC
Closed-loop controller enable off (by PLC)
Switch actuator (by PLC)
Switched to spindle parameter set (1-5) internally in the NC,
controller enable on (by PLC)
M3/4/5
or
SPOS=...
NC travels with spindle parameter set
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