Siemens SINUMERIK 840D sl Function Manual

Detailed description
2.5 Optimization of the control
Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
84 Function Manual, 11/2006, 6FC5397-0BP10-2BA0
Example
Setting result after several iterative processes for
K
R and T
n
.
Each of the following quantities - following error, actual velocity, actual position, and position
setpoint - has been recorded by servo trace. When traversing in JOG mode, the
characteristic of the individual data shown in the following figure was then drawn.
Set machine data:
MD32220 $MA_POSCTRL_INTEGR_ENABLE = 1
MD32210 $MA_POSCTRL_INTEGR_TIME = 0.003
MD32200 $MA_POSCTRL_GAIN[1] = 5.0
Parameter set selection 0
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Figure 2-14 Following error (1), actual velocity (2), position actual value (3), position setpoint (4)

Siemens SINUMERIK 840D sl Specifications

General

Control Type	CNC
Number of Axes	Up to 31
Max Number of Channels	10
Interfaces	Ethernet, PROFIBUS, PROFINET, USB
Interpolation	5-axis interpolation
Operating Temperature	0°C to 45°C
Relative Humidity	Up to 95% (non-condensing)
Display	TFT color display, various sizes
Programming Languages	DIN/ISO
Safety Features	Safety Integrated
PLC	Integrated PLC S7-300
Drive Interface	SINAMICS S120
Data Storage	CF card, USB
Operating System	Windows-based