Example: Positioning with feedforward control and active position controller
If the jerk has
been tuned, the position controller and the feedforward control must be activated.
Set the machine data as required:
● MD20150[23] =2 The feedforward control can then be released as default setting.
● MD32200 $MA_POSCTRL_GAIN = as tuned
● MD32610 $MA_VELO_FFW_WEIGHT = 1.0
● MD32620 $MA_FFW_MODE = 3
● MD32810 $MA_EQUIV_SPEEDCTRL_TIME = as tuned
● MD32431 $MA_MAX_AX_JERK = 65
● MD36012 $MA_STOP_LIMIT_FACTOR = original value
● MD36400 $MA_CONTOUR_TOL = original value
A good positioning without overshoot is achieved when the feedforward control and jerk have
been tuned correctly:
Tuning
6.3 Optimizing the axis jerk
CNC commissioning
190 Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
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