Detailed Description
2.4 Closed-loop control
Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
2-56 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
2.4.3 Extending the parameter set
Application
Some machines use the same drive for moving various machine parts, which, in view of
considerably varying speeds, results in a gear stage change. With each gear stage change,
the corresponding parameter set is also switched over.
Now several parameter sets are provided for further practical applications and for setting the
feedforward control of the control loop.
Functionality
To optimize closed-loop control during startup, these codable parameter sets support
practiceoriented startup by substantially reducing configuration expenditure with regard to
the new functions, such as backlash compensation, feedforward control factor, exact stop
limits, and zero-speed window.
New parameter sets
Until now it has been possible to change the gear ratio and other control loop parameters
(such as achievable control servo gain) by switching over the servo parameter set. The
already existing machine data with parameter set coding are extended as follows:
Parameter set coding (modifiable as a function of parameter set)
Backlash compensation MD32450 $MA_BACKLASH[n] (max. number of
encoders)
Feedforward control factor MD32610 $MA_VELO_FFW_WEIGHT[n]
Exact stop limits MD36000 $MA_STOP_LIMIT_COARSE
MD36010 $MA_STOP_LIMIT_FINE
Zero-speed window MD36030 $MA_STANSTILL_POS_TOL
Weighting factor for parameter set changeover
Weighting factor for: MD32452 $MA_BACKLASH_FACTOR[n]
• Backlash compensation
MD32450 $MA_BACKLASH[n]
Weighting factor for: MD36012 $MA_STOP_LIMIT_FACTOR[n]
• Exact stop limits
MD36000 $MA_STOP_LIMIT_COARSE
MD36010 $MA_STOP_LIMIT_FINE
• Zero-speed window
MD36030 $MA_STANSTILL_POS_TOL
Machine data tried and tested to date
Further machine data with parameter set coding
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