K3: Compensations
4.5 Dynamic feedforward control (following error compensation)
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
283
Fine adjustment
The torque feedforward control for the particular axis/spindle can be optimized by making
slight changes (fine tuning) to the values in MD32800 and MD32650.
To make a check, the following error should be recorded via the trace functionality. In
addition to traversing at a constant velocity, the following error should be monitored
especially when the axis/spindle accelerates.
Note
As a result of the extremely fast sequences when accelerating, when commissioning the
torque feedforward control, the service display cannot be used to check the fine adjustment.
References
For detailed information about setting the equivalent time constants of the current control
loop (MD32810) refer to:
● Function Manual, Basic Functions; Velocities, Setpoint / Actual Value Systems, Closed-
Loop Control (G2), Section: Optimization of the control
4.5.4 Dynamic response adaptation
Function
For axes that interpolate with one another, but with different axial control loop response
times, dynamic response adaptation can be used to achieve identical time responses of all
axes to ensure optimum contour accuracy without loss of control quality.
Commissioning
Time constant for dynamic response adaptation (MD32910)
The difference between the equivalent time constants of the "slowest" speed or current
control loop and the particular axis should be entered as time constant for the dynamic
response adaptation in the following machine data.
MD32910 $MA_DYN_MATCH_TIME (time constant of dynamic response adaptation)
Example:
Equivalent time constants of the speed control loop (MD32810) for active speed feedforward
control of axes 1, 2 and 3:
● Axis 1: 2 ms
● Axis 2: 4 ms (dynamically the slowest axis)
● Axis 3: 1 ms
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