Siemens SINUMERIK 840D sl Function Manual page 451

2.4.2 Parameter sets of the position controller
Six different parameters sets
The position control can operate with 6 different servo parameter sets.
They are used as follows
1. Fast adaptation of the position control to altered machine characteristics during operation,
2. Matching the dynamics of an axis to another axis, e.g., during tapping.
Parameter set changeover
The following machine data can be changed by switching over the parameter set during operation:
Denominator load gearbox
Numerator load gearbox
K
v
Backlash compensation
Feedforward control factor
Exact stop limits
and zero-speed window
Equivalent time constant
current control loop for torque feedforward
control
Equivalent time constant
speed control loop for speed feedforward control
Time constant for dynamic response adaptation
Threshold value for velocity monitoring
Tapping or thread cutting
The following applies to parameter sets for axes:
• For machine axes not involved in tapping or thread cutting, parameter set 1 (index=0) is
• For machine axes involved in tapping or thread cutting, the same parameter set number
The current parameter set is displayed in operating area "Diagnostics" in the "Service axis"
display. The parameter sets for gear stages 1 to 5 are referred to as interpolation
parameters.
Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
e.g., a gear change of the spindle.
factor
always used.
The further parameter sets need not be considered.
as for the current gear stage of the spindle is activated.
All parameter sets correspond to the gear stages and must therefore be parameterized.
MD31050 $MA_DRIVE_AX_RATIO_DENOM[n]
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[n]
MD32200 $MA_POSCTRL_GAIN[n]
MD32452 $MA_BACKLASH_FACTOR[n]
MD32610 $MA_VELO_FFW_WEIGHT[n]
MD36012 $MA_STOP_LIMIT_FACTOR[n]
MD36000 $MA_STOP_LIMIT_COARSE
MD36010 $MA_STOP_LIMIT_FINE
MD36030 $MA_STANSTILL_POS_TOL
MD32800 $MA_EQUIV_CURRCTRL_TIME[n]
MD32810 $MA_EQUIV_SPEEDCTRL_TIME[n]
MD32910 $MA_DYN_MATCH_TIME[n]
MD36200 $MA_AX_VELO_LIMIT[n]
Detailed description
2.4 Closed-loop control
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