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connected via the motor encoder, the position control loop can be connected via the motor

encoder or via the direct measuring system.

Precondition

The dynamic stiffness control is set before automatic tuning.

MD32640[0] $MA_STIFFNESS_CONTROL_ENABLE = 1

This then permits a

position control with a faster cycle time. When dynamic stiffness control is

used, the following machine data must be set: MD32110 $MA_ENC_FEEDBACK_POL = 1

If a polarity reversal is required, the p0410 parameter "Actual encoder inversion value" must

be set in the drive:

● p0410[0]=1 invert actual speed value

● p0410[1]=1 invert actual position value

If the "Automatic servo tuning" function is used for a main spindle, it is possible that no PLC

signal for the servo release is present. The machine manufacturer should provide a method

to activate this PLC signal for the tuning, for example, a special key combination or the setting

of a flag in the PLC status.

Backing up drive data

When the drive is switched on or a "Drive Reset" performed, the SINAMICS S120 data from

the saved file is loaded into the associated drive. To permanently accept changes made to the

drive data after the new power on/off or after a "Drive Reset", the data must be saved.

Note

A "Reset (po)" has no effect on the drive data.

Procedure:

1. Press the "Drive parameter" softkey and then the "Save/reset" softkey.

2. Press the "Save" softkey and finally the "Drive system" softkey.

Messages in

the lower left-hand area of the screen indicate the status of the save action. The

following window is displayed when the save action completes: "All drive objects saved".

References

You can find further details in the following manuals:

● SINUMERIK Operate (828D_IH9) Commissioning Manual; Section "Trace"

● Basic Functions Function Manual; Velocities, Setpoint-Actual Value Systems, Closed-Loop

Control (G2)

● Extended Functions Function Manual; Compensations (K3)

Tuning

6.1 Control response

CNC commissioning

168 Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3

Siemens SINUMERIK 828D Commissioning Manual

Other manuals for Siemens SINUMERIK 828D