Detailed Description
2.5 Optimization of the control
Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
2-70 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Fine adjustment
The fine adjustment of the position setpoint filter is carried out as follows:
1. Assess the traversing response of the axis
(e.g. based on positioning processes with servo trace).
2. Modify the filter time in MD32410 $MA_AX_JERK_TIME.
3. Activate the modified time via "Enable machine data" or RESET on the machine control
panel.
Disabling
Disabling the position setpoint filter:
1. Disable filter calculation:
MD32410 $MA_AX_JERK_ENABLE = 0.
2. Activate the interlock via "Enable machine data" or RESET on the machine control panel.
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/ Description of Functions, Basic Machine; Acceleration (B2)
Chapter: "Axis-oriented jerk limitation"
Chapter: "Axisspecific machine data"
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