Selection Of The Data Set - Siemens SINUMERIK 840D sl Commissioning Manual

Commissioning
5.7 Controller data
forces) are optimally suppressed. A rather "soft" parameterization will provide more damping
and a reduction of the tendency to oscillate.
Which controller behavior is best suited depends on the application and technology. To enable
you to find the controller setting best suited to your technology during commissioning, three
controller data sets with different properties are generally stored for each axis:
• Axis parameter set 0/3 / drive DDS 0/3:
Balanced setting, between stiff and damping. This data set is similar to the one from the
earlier versions of Run My Robot /Direct Control (<1.3).
• Axis parameter set 1 / drive DDS 1:
Damping-optimized parameterization of the control loops. This data set is optimized for high
damping of natural frequencies and is best suited for applications with high speed and low
process forces (e.g. handling).
• Axis parameter set 2 / drive DDS 2:
Fault-optimized parameterization of the control loops. This data set is optimized for a high
stiffness of the control loops and is well suited for technologies with high process forces (e.g.
milling).
5.7.2

Selection of the data set

You select the suitable controller data set during commissioning (see chapter Manual steps after
installation (Page 50)). In general, you must observe the following:
• With Sinumerik, the axis parameter sets and drive data sets can in principle be parameterized
separately. However, the parameter sets preassigned within the scope of Run MyRobot /
Direct Control stipulate that the axis parameter sets and drive data sets for all 6 robot axes
belong together. Cross-combinations are not intended and have not been tested.
• Use the same parameter set for all axes. This is the only way to guarantee that the robot axes
interpolate correctly with each other.
If you observe these rules, you can select a fixed parameter set or change it during operation
(e.g. switching between milling and fast handling motion).
During commissioning, a fourth data set is additionally created (Index 3/DDS3), into which the
parameter assignment from data set 0 is initially transferred. The fourth data set has no
functional relevance, it serves exclusively as a user-defined data set, if for example an
optimization is carried out by the "Auto-Servo-Tuning" function.
References
Function Manual Sinumerik 840D sl Basic Functions, Chapter Switching over motor/drive data
sets
62
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD