Siemens Sinumerik 840DiE sl - Page 337

01/2007
11.5 Axes and spindles
11-337
© Siemens AG 2007 All Rights Reserved
SINUMERIK 840Di sl Manual (HBIsl) – 01/2007 Edition
The servo gain factor is defined as the ratio of velocity in m/min and the result-
ing following error in mm
Following error
Velocity
K
V
=
[m/min]
[mm]
i.e. with a Kv factor of 1 and a velocity of 1 m/min, the following error will be 1 mm.
Via
S MD32200: POSCTRL_GAIN (Kv factor)
is used to specify the Kv factor of the machine axis.
Note
To adapt the input/output unit of the Kv factor selected by default to the internal
unit [1/s], the following machine data are assigned by default:
S MD10230: SCALING_FACTORS_USER_DEF[9] = 16.666667
S MD10220: SCALING_USER_DEF_MASK = ’H200’; (bit no 9 as hex
value).
When entering the servo gain factor it is important to check that the gain factor
of the whole position control loop is still dependent on other parameters of the
controlled system.
These factors are:
S MD32260: RATED_VELO
S MD32250: RATED_OUTVAL
S Tacho adjustment on the speed controller
S Tacho generator on drive.
Notice
Machine axis that interpolate one with another must have the same following
error at the same velocities.
This can be achieved by setting the same K
V
factor or dynamic response
adaptation in:
S MD32900: DYN_MATCH_ENABLE
S MD32910: DYN_MATCH_TIME
The real servo gain factor can be checked with the following error in the service
display.
S e.g. HMI Advanced: Operating area ”DIAGNOSIS” > Service displays >
Service axis.
Definition of
K
V
factor
11 NCK Commissionin
g
with HMI Advanced