G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
Basic Functions
384 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
If no filter mode previously:
MD32402 $MA_AX_JERK_MODE = 2
was activated, then "Power On" must be initiated once.
Otherwise, "Enable machine data" or "Reset" at the machine control panel are sufficient.
Fine adjustment
The fine adjustment of the jerk filter is carried out as follows:
1. Assess the traversing response of the axis
(e.g., based on positioning processes with servo trace).
2. Modify the filter time in MD32410 $MA_AX_JERK_TIME.
3. Activate the modified time via "Enable machine data" or RESET on the machine control panel.
Disabling
Disabling the jerk filter:
1. Disable filter calculation:
MD32410 $MA_AX_JERK_ENABLE = 0.
2. Activate the interlock via "Enable machine data" or RESET on the machine control panel.
MD32402 $MA_AX_JERK_MODE = 2 Filter mode, moving average value
MD32410 $MA_AX_JERK_TIME = 0.02 Set the filter time in seconds (e.g. 20 ms)
MD32400 $MA_AX_JERK_ENABLE = 1 Enable filter calculation
Note
Generally, the filter is set using:
MD32402 $MA_AX_JERK_MODE = 2
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