Parameter Manual
Operating Instructions, 08/2013, 6FC5397-8EP40-0BA0
243
Machine data
2.4 Axis-specific machine data
MD32750 $MA_TEMP_COMP_TYPE = 0, sag compensation, LEC, backlash compensation
Related to:
MD32750 $MA_TEMP_COMP_TYPE
SD43900 $SA_TEMP_COMP_ABS_VALUE
SD43910 $SA_TEMP_COMP_SLOPE
MD32000 $MA_MAX_AX_VELO
MD36200 $MA_AX_VELO_LIMIT
MD10070 $MN_IPO_SYSCLOCK_TIME_RATIO
MD10050 $MN_SYSCLOCK_CYCLE_TIME
Description: This time constant must be equal to the equivalent time constant of the
closed current control loop.
It is used for parameterizing the speed feedforward control and for calculat-
ing the dynamic following error model (contour monitoring).
In addition, this MD determines the time behavior of the closed-loop speed
control circuit for simulated drives (MD30130 $MA_CTRLOUT_TYPE 0).
In order to set the speed feedforward control correctly, the equivalent time
constant of the current control loop must be determined exactly by measuring
the step response of the current control loop.
Closed-loop control free of following errors can be set by inputting negative
values when MD32620 $MA_FFW_MODE=3 (but positioning overshoots may then
occur).
Delay values taken into account automatically by the software internally are
thus compensated again until the actually active minimum symmetrizing time
"0" is reached.
Any other negative input values have no further effect.
Negative values input when MD32620 $MA_FFW_MODE=1 are automatically converted
internally to the input value "0", which means that they are not active in
this case.
Related to:
MD32620 $MA_FFW_MODE (type of feedfoward control)
MD32610 $MA_VELO_FFW_WEIGHT (moment of inertia for speed feedforward control)
MD36400 $MA_CONTOUR_TOL (tolerance band contour monitoring)
32810 EQUIV_SPEEDCTRL_TIME A07, A09 G1,K3,S3,A2,A3,G2,S1,V1
s Equiv. time constant speed control loop for feedforward control DOUBLE NEW CONF
-
808d-me42 6 -0.0017, -0.0017, -
0.0017, -0.0017...
- - 1/1
808d-me62 6 0.003, 0.003, 0.003,
0.003, 0.003...
- - 1/1
808d-te42 6 -0.0017, -0.0017, -
0.0017, -0.0017...
- - 1/1
808d-te62 6 0.003, 0.003, 0.003,
0.003, 0.003...
- - 1/1
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