6 Pro
rammin
the control
6
03/2006
6.9 Axes and spindles
6-106
© Siemens AG 2006 All Rights Reserved
SINUMERIK 840D/810D Start-Up Guide (IADC) – 03/2006 Edition
After the acceleration has been entered, the axis is traversed rapidly and the
actual current values and current setpoint are recorded. This recording shows
whether the drive reaches the current limit. While traversing rapidly, the drive
may reach the current limit briefly. However, the current must be well below the
current limit before rapid traverse velocity or the final position is reached.
Load changes during machining must not cause the current limit to be reached.
Excessive current during machining causes falsification of the contour. It is the-
refore advisable in this case as well to enter a slightly lower acceleration value
in the MD than the maximum permissible value. Axes can be assigned different
acceleration values even if they do interpolate with one another.
Fine
inter-
polation
Jerk
limitation
Dynamic
response
Feedforward
control
Regulation Speed
setpoint
processing
Actual
value
processing
NST
position measuring
system 1/2
MD32400 AX_JERK_ENABLE
MD32402 AX_JERK_MODE
MD32200 POSCTRL_GAIN[n]
MD33000
FIPO_TYPE
MD32900 DYN_MATCH_ENABLE
MD32910 DYN_MATCH_TIME[n]
MD32620 FFW_MODE
MD32630 FFW_ACTIVATION_MODE
MD32610 VELO_FFW_WEIGHT[n] from SW vers. 5.1 parameter sets
MD32650 AX_INERTIA
MD32810 EQUIV_SPEEDCTRL_TIME[n]
MD32800 EQUIV_CURRCTRL_TIME[n]
MD32100 AX_MOTION_DIR
MD32500 FRICT_COMP_ENABLE*
MD32110 ENC_FEEDBACK_POL[n]
MD32700 ENC_COMP_ENABLE[n]
MD32450 BACKLASH[n]
MD32452 BACKLASH_FACTOR[n]
MD32410 AX_JERK_TIME
matching
Fig. 6-17 Additional parameters for position control
*Further machine data for friction compensation FRICT... can be found in:
Reference material: /FB2/ K3, Description of the advanced functions,
Compensation
Optimizing the control
Control of an axis can be optimized as follows with respect to the speed control
loop, current control loop and the higher-level position control loop:
The positional deviation feedforward takes place on the NCK side within the
position control cycle and is designed to improve the stability and positioning
response of axes with at least two encoders (load and motor encoder) by
actively damping oscillations.
S The function is activated with MD 32950: POSCTRL_DAMPING ,0 and is
available for all controls that use SIMODRIVE_611 D drives.
Positional
deviation
feedforward
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