Siemens SINUMERIK 840D sl Function Manual page 390

Compensations (K3)
5.5 Dynamic feedforward control (following error compensation)
Example
Example with X axis:
MD32300 $MA_MAX_AX_ACCEL = 0.1 ; m/s2
MD32000 $MA_MAX_AX_VELO = 20000,0 ; mm/min
; Part program for setting the equivalent time constant
G1 F20000
FFWON
LOOP:
X1000
X0
GOTOB LOOP
M30
Example for active speed feedforward control of axes 1, 2 and 3.
Equivalent time constant of speed control loop with MD32810 for
● Axis 1: 2 ms
● Axis 2: 4 ms (dynamically the slowest axis)
● Axis 3: 1 ms
The values for the time constant of the dynamic response adaptation (MD32910
$DYN_MATCH_TIME (time constant of dynamic response adaptation)) are therefore as
follows for
Axis 1: 2 ms
Axis 2: 0 ms
Axis 3: 3 ms
Lead time for the speed setpoint
MD10082 $MN_CTRLOUT_LEAD_TIME
(shift of setpoint transfer time)
and
MD10083 $MN_CTRLOUT_LEAD_TIME_MAX
(maximum permissible setting for shift of setpoint transfer time)
The transfer of speed setpoints to the drive can be set with the machine data above.
Note
Only digital drives can be used to define the setup time for outputting the speed setpoint
values. The procedure with SIMODRIVE 611D is described here. Parameterization with
SINAMICS S120 can be taken from:
SINAMICS S120 function manual FH1, Chapter "Motion Control with PROFIBUS"
390
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Extended Functions