Siemens SINUMERIK 840D sl Function Manual page 369

Parameter assignment: Activation
The function of the axial phase filter setpoint must be activated with the following machine data:
MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = "TRUE"
Examples
Assumption: Position control cycle clock = 2 ms
1. MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = "FALSE"
MD32895 $MA_DESVAL_DELAY_TIME[<Axis>] = <Time constant>
– Phase filter setpoint: Not active
– Time constant: Irrelevant
2. MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = TRUE
MD32895 $MA_DESVAL_DELAY_TIME[<Axis>] = 0.002
– Phase filter setpoint: Active
– Time constant: 2 ms ⇒ the setpoint output is delayed by a position control cycle clock.
3. MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = TRUE
MD32895 $MA_DESVAL_DELAY_TIME[<Axis>] = 0.256
– Phase filter setpoint: Active
– Set time constant: 256 ms;
Supplementary conditions
SINUMERIK Safety Integrated
The phase filter setpoint delays the output of axial setpoints; e.g. for retractions (ESR for Stop
E). However, the phase filter setpoint has no influence over shutdown processes; e.g. the SBH
activation time.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
G2: Velocities, setpoint / actual value systems, closed-loop control
maximum possible time constant: 64 * 2 ms = 128 ms
⇒ internally effective time constant: 128 ms
7.6 Optimization of the control
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