K3: Compensations
4.5 Dynamic feedforward control (following error compensation)
Extended Functions
284 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
This means that the following values are obtained for the time constant of the dynamic
response adaptation MD32910:
● Axis 1: 2 ms
● Axis 2: 0 ms
● Axis 3: 3 ms
Activation (MD32900)
The dynamic response adaptation is only active if the following machine data is set:
MD32900 $MA_DYN_MATCH_ENABLE= 1
Reference
Function Manual, Basic Functions; Velocities, Setpoint-Actual Value Systems, Closed-Loop
Control (G2), Chapter: "Optimizing the closed-loop control"
4.5.5 Forward feed control for command- and PLC axes
Function
For command and PLC axes, it must be prevented that the feedforward control is
activated/deactivated at higher velocities as follows:
MD32630 $MA_FFW_ACTIVATION_MODE = 2
With this setting, the
FFWON/FFWOF operation only becomes active below the stationary
velocity (MD36060 $MA_STANDSTILL_VELO_TOL) configured for this particular axis.
If the switchover instruction coincides with an axis motion, the required switchover is
executed only in the next stoppage condition of the axis. This avoids the following error
being suddenly established/reduced.
Note
A stoppage velocity set to a very high value can lead to the changeover of the feedforward
control in the movement. Controls can be activated depending on the existing following error.
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