To check the positioning behavior without the effect of the position controller, the K
v
position-
control gain factor should be set to 0. Specify positioning tolerances to prevent errors during
the test:
● MD32200 $MA_POSCTRL_GAIN = 0
● MD36012 $MA_STOP_LIMIT_FACTOR = 100
● MD36400 $MA_CONTOUR_TOL = 20
Initializing the trace
The
"Start trace" softkey is used to initialize and start the trace. This depends on the selection
defined in the "Settings" dialog. In this example, the trace is started via a part program
command. Press the "Start trace" softkey to initialize the trace.
The trace is now initialized and will be started when the trigger is set by the part program.
6.3.3 Selecting trace signals
Selecting trace signals
A trace of the position setpoints and actual position values is required.
Procedure:
1. Use the following key combination to invoke the Trace function:
<MENU SELECT> → "Diagnostics" operating area → Menu forward key → "Trace" softkey
2. The required variables are selected: "Select variable" softkey.
Tuning
6.3 Optimizing the axis jerk
CNC commissioning
Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3 185
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