Siemens SINUMERIK 840D Simodrive 611 digital

6 Pro
g
rammin
g
the control
6
03/2006
6.9 Axes and spindles
6-107
© Siemens AG 2006 All Rights Reserved
SINUMERIK 840D/810D Start-Up Guide (IADC) – 03/2006 Edition
If bias control is active for speed and torque, the position setpoint is routed via a
new balance filter before it reaches the actual controller in order to improve the
oscillatory response of the axis. It also achieves greater accuracy at curved
contours.
S The speed bias control is activated with MD 32620: FFW_MODE = 3.
S The torque bias control is activated with MD 32620: FFW_MODE = 4.
The MD 32620: FFW_MODE = 1 and = 2 settings remain available and behave
as before. The response of the axis can be improved with the new settings for
MD 32620 = 3 and MD 32620 = 4.
Smoothing the position setpoint can help to reduce machine oscillations. A new
type of filter for filter time constants of approx. 20–40ms achieves largely
symmetrical smoothing by averaging while giving little consideration to the
contour accuracy.
S The new jerk filter is activated with MD 32402: AX_JERK_MODE = 2.
For reasons of compatibility, MD 32402: AX_JERK_MODE = 1 by default. On
new machines, the new filter MD 32402: = 2 is generally recommended.
From software version 5.1, the following parameter sets are also available for
backlash compensation, bias control factor, exact positioning limits and
zero-speed tolerance.
MD 32450: BACKLASH (backlash compensation)
MD 32610: VELO_FFW_WEIGHT (bias control factor)
MD 36000: STOP_LIMIT_COARSE (coarse exact stop)
MD 36010: STOP_LIMIT_FINE (fine exact stop)
MD 36030: STANDSTILL_POS_TOL (zero-speed tolerance)
The following machine data with suitable weighting factors is available for the
parameter set-specific machine data mentioned above.
MD 32452: BACKLASH_FACTOR[n] (backlash compensation) affects:
S MD 32450: BACKLASH (backlash compensation)
MD 36012: STOP_LIMIT_FACTOR[n] (exact stop limit and zero-speed
tolerance) affects:
S MD 36000: STOP_LIMIT_COARSE (coarse exact stop)
MD 36010: STOP_LIMIT_FINE (fine exact stop)
MD 36030: STANDSTILL_POS_TOL (zero-speed tolerance)
The machine data MD 32452: BACKLASH_FACTOR[n] and MD 36012:
STOP_LIMIT_FACTOR[n] are set to the weighting factor [n] = 1 by default.
Effects of various parameter sets on backlash compensation
MD 32450: BACKLASH[AX1] = 0.01
MD 32452: BACKLASH_FACTOR[0,AX1] = 1.0 Parameter set 1
MD 32452: BACKLASH_FACTOR[1,AX1] = 2.0 Parameter set 2
In parameter set 1 (index 0) for the first axis (AX1), a backlash compensation
factor with the value 1.0 has the following effect:
1.0 * MD 32450: BACKLASH = 0.01 mm (or inch or degree)
2.0 * MD 32450: BACKLASH = 0.02 mm (or inch or degree).
Bias control
New jerk filter
(position setpoint
filter)
Extending the
parameter set
Weighting factor
Example