Example for "Position": Strategy 203
Figure 6-5 "Strategy: Position control loop" - example
The values for the
Kv reduction and Kv upper limit depend on what has been selected as tuning
objective.
● Kv reduction:
This parameter specifically reduces the maximum Kv calculated by the automatic servo
tuning function. No position overshoot is permitted. The maximum Kv value is a value that
does not result in any overshoot. The maximum possible Kv value can be reduced to make
the control more rugged against mechanical changes. A reserve of 40% is set for the tuning
objective"Normal responsiveness". Further, the Kv is limited to 4 mm/min.
– Default setting = 0.6
– Min = 0.1
– Max = 1 (no reduction)
● Feedforward control mode: Torque feedforward control is recommended.
When telegram 136 is used, torque feedforward control allows the highest contour precision
to be achieved.
Tuning objective
The default settings for speed and position controllers are adapted by selecting the tuning
objective.
Tuning
6.2 Automatic servo optimization
CNC commissioning
174 Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
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