Detailed description
2.5 Optimization of the control
Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
81
Supplementary conditions
The position setpoint filter is available in all control system variants as follows:
• Effective filter times are limited to a range between a minimum of 1 position-control cycle
up to a maximum of 32 position-control cycles (31 position-control cycles are available).
Further supplementary conditions regarding the filter effect:
• The display of the calculated servo gain factor (K
V
) in the Axis service screen form
displays smaller values than would be appropriate based on the filter effect.
• Path accuracy is better than the displayed servo gain (K
V
) suggests.
Therefore, on resetting
MD32400 $MA_AX_JERK_MODE = 1
to
MD32400 $MA_AX_JERK_MODE = 2,
the displayed servo gain (K
V
) can be reduced while retaining the same filter time,
although the path accuracy improves.
Axes that interpolate with each other must be set identically.
Once an optimum value has been identified for these axes, the one with the longest filter
time should be used as the setting for all axes within the interpolation group.
For more information about jerk limitation on an interpolator level, please refer to:
References:
/FB1/ Function Manual, Basic Functions; Acceleration (B2)
Chapter: "Axis-oriented jerk limitation"
Chapter: "Axisspecific machine data".
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