S1: Spindles
16.2 Operating modes
Basic Functions
1278 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Servo parameter set
The relevant machine data from the servo parameter set are:
Other notes on the servo parameter set:
References:
Function Manual, Basic Functions; Velocities, Setpoint/Actual-Value System, Closed-Loop Control (G2)
Dynamic response
The dynamic limits of the axis stored in the machine data are applicable in axis operation.
The axis switches to the current feedforward control mode as designated by the MD and the commands FFWON
and FFWOF.
Machine data Meaning
MD31050 $MA_DRIVE_AX_RATIO_DENOM Measuring gear denominator
MD31060 $MA_DRIVE_AX_RATIO_NUMERA Numerator load gearbox
MD32200 $MA_POSCTRL_GAIN K
V
factor
MD32452 $MA_BACKLASH_FACTOR Weighting factor for backlash
MD32610 $MA_VELO_FFW_WEIGHT Weighting factor for feedforward control
MD32800 $MA_EQUIV_CURRCTRL_TIME Equivalent time constant current control
loop for feedforward control
MD32810 $MA_EQUIV_SPEEDCTRL_TIME Equivalent time constant speed control
loop for feedforward control
MD32910 $MA_DYN_MATCH_TIME Time constant for dynamic matching
MD36012 $MA_STOP_LIMIT_FACTOR Factor for exact stop coarse/fine and zero
speed control
MD36200 $MA_AX_VELO_LIMIT Velocity monitoring threshold value
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