● (1103) Path tuning without reducing the speed controller gain
Path tuning and adaptation of the equivalent times:
After axis tuning, the
equivalent times of the controllers are set differently for each axis. In
strategy 1103, the path tuning is aligned with adaptation of the equivalent times. The
equivalent times in MD32800 for torque feedforward control and in MD32810 for speed
feedforward control are increased to the highest time constants of all interpolating axes.
– The axis-optimum speed controller gain Kp is not reduced.
– Kv factors (MD32200) are no longer adapted for the torque feedforward control. The
maximum Kv value is kept after the axis has been tuned.
– The equivalent time constants for the feedforward control (MD32800 or MD32810) are
increased to the highest time constants for all path axes.
– Integral time (p1462), reference model (p1433 ff.) and all speed setpoint filters are
adapted for the speed feedforward control; for torque feedforward control, the optimum
value for the specific axis is kept.
● (1104) Path tuning with user-defined strategy
All of the adaptations are performed as in strategy 1105. The user can also specify a
reduction factor of the speed controller gain Kp.
– Adapt effective Kp: ✓
– Minimum reduction factor for Kp: Factor to which the Kp may be reduced, when required.
– Spindle can limit other axes: If the main spindle is the weakest axis from a dynamic
performance perspective, the main spindle can cause a reduction of the Kp values of
the servo axes.
– Other axis can limit the spindle: If a servo axis is the weakest axis from a dynamic
performance perspective, it can also cause a Kp reduction in the spindle.
– Dynamic adaptation is activated in MD32900 $MA_DYN_MATCH_ENABLE
The time constant of the dynamic adaptation of an axis should be entered in MD32910[n]
$MA_DYN_MATCH_TIME.
● (1105) Path tuning with dynamic adaptation filter (recommended)
This strategy is strongly recommended:
Axes that interpolate with one another but with different dynamic responses can be adapted
with a time constant as dynamic adaptation to the slowest control loop. The difference
between the equivalent time constants of the slowest control loop and the particular axis
should be entered as time constant for the dynamic response adaptation. Different
equivalent times after axis tuning are aligned as standard using time constant (MD32895).
The following parameters are adapted:
– Values are only adapted if speed feedforward control is used. The speed controller
values such as Kp, Tn, reference model and speed setpoint filter are adapted.
– Kv factors (MD32200): Are not adapted for torque feedforward control, instead, the value
optimum for the particular axis is kept.
– If there is a time constant in MD32895, then MD32890 $MA_DESVAL_DELAY_ENABLE
=1 is set and the time constant from MD32895 is used. Otherwise, MD32900
$MA_DYN_MATCH_ENABLE = 1 and MD32910 $MA_DYN_MATCH_TIME are used.
Tuning
6.2 Automatic servo optimization
CNC commissioning
180 Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
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