A3: Axis Monitoring, Protection Zones
2.2 Axis monitoring
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
79
• Position control loop gain
MD32200 $MA_POSCTRL_GAIN (servo gain factor)
• Maximum acceleration
MD32300 $MA_MAX_AX_ACCEL (Maximum axis acceleration)
• Maximum velocity
MD32000 $MA_MAX_AX_VELO (maximum axis velocity)
• With activated feedforward control: Precision of the path model and the parameters:
MD32610 $MA_VELO_FFW_WEIGHT (factor for the velocity 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)
In the acceleration phase, the following error initially increases when traversing along a machine axis. After a
time depending on the parameterization of the position control loop, the following error then remains constant in
the ideal case. Due to external influences, more or less large fluctuations in the following error always arise
during a machining process. To prevent these fluctuations in the following error from triggering an alarm, a
tolerance range within which the following error may change must be defined for the following-error monitoring:
MD36400 $MA_CONTOUR_TOL (Contour monitoring tolerance range)
Figure 2-1 Following-Error Monitoring
Effectivity
The following-error monitoring only operates with active position control and the following axis types:
• Linear axes with and without feedforward control
• Rotary axes with and without feedforward control
• Position-controlled spindles
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