Optimization Of The Control; Position Controller, Position Setpoint Filter: Balancing Filter - Siemens SINUMERIK 840D Function Manual

MD32407
MD32408
MD32409
MD32410
MD32411
MD32412
MD32414
MD32890
MD32895[<n>]
System variables
The following system variables are added with the function "Switchable position setpoint filter
circuits":
Name
$AA_DESVAL_FILTERS_SELECT
$VA_DESVAL_FILTERS_ACTIVE
$VA_DESVAL_FILTERS_DELTA_POS
$VA_DESVAL_FILTERS_DELAY_1
$VA_DESVAL_FILTERS_DELAY_2
2.6

Optimization of the control

2.6.1

Position controller, position setpoint filter: Balancing filter

Function
With feedforward control active, the position setpoint is sent through a so-called balancing filter
before it reaches the controller itself. It is thus possible to control the speed setpoint to 100%
in advance, without resulting in overshoots when positioning.
Activation
The feedforward control variant is selected and so also the filter activated using the axis-
specific machine data:
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
G2: Velocities, setpoint / actual value systems, closed-loop control
$MA_AX_JERK_FIR_FREQ
$MA_AX_JERK_FIR_ORDER
$MA_AX_JERK_FIR_WINDOW
$MA_AX_JERK_TIME
$MA_AX_JERK_TIME_ADD
$MA_AX_JERK_FREQ
$MA_AX_JERK_DAMP
$MA_DESVAL_DELAY_ENABLE
$MA_DESVAL_DELAY_TIME[<n>]
Effect
System variable that controls the switchover between the filter cir‐
cuits.
System variable in which the currently active filter circuit is located. r
System variable that provides the position difference between the
two filter circuits.
System variable that provides the effective delay time between the
1st or 2nd filter circuit.
2.6 Optimization of the control
Corner frequency axial jerk filter, type 5
Filter order, axial jerk filter, type 5
Window type, axial jerk filter, type 5
Time constant for the axial jerk filter
Time constant for the second axial jerk filter, type
4
Blocking frequency of the axial jerk filter
Damping, axial jerk filter
Axial position setpoint phase filter
Time constant for the axial phase position set‐
point phase filter
Access
r/w
r
r
r
77