Siemens SINUMERIK 828D Commissioning Manual

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

Siemens SINUMERIK 828D Specifications

General

Control Type	CNC
Operating System	Windows Embedded
Processor	Intel Atom
Display	10.4" color TFT display
Interfaces	Ethernet, USB
Programming	ShopMill, ShopTurn
Operation Panel Size	10.4"
Protection Class	IP65
PLC Memory	2 MB
Spindle Capacity	4 spindles
Hard Drive	CompactFlash