Siemens SINUMERIK 840D sl Function Manual page 163

References:
Function Manual Extended Functions; Compensations (K3)
The following control parameters must be set to the same value for the leading axis and
synchronized axis:
• MD33000 $MA_FIPO_TYPE (fine interpolator type)
• MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)
• MD32410 $MA_AX_JERK_TIME (time constant for the axial jerk filter)
• MD32420 $MA_JOG_AND_POS_JERK_ENABLE (basic position of axial jerk limitation)
• MD32430 $MA_JOG_AND_POS_MAX_JERK (axial jerk)
References:
Function Manual Basic Functions; Velocities/Setpoint/Actual Value Systems, Closed-Loop
Control (G2)
Dynamics matching
The leading axis and the coupled axis must be capable of the same dynamic response to
setpoint changes. The same dynamic response means: The following errors are equal in
magnitude when the axes are operating at the same speed.
The dynamic response adaptation function in the setpoint branch makes it possible to obtain
an excellent match in the response to setpoint changes between axes, which have different
dynamic characteristics (control loops). The difference in equivalent time constants between
the dynamically "weakest" axis and the other axis in each case must be specified as the
dynamic response adaptation time constant.
Example
When the speed feedforward control is active, the dynamic response is primarily determined
by the equivalent time constant of the "slowest" speed control loop.
Leading axis:
MD32810 $MA_EQUIV_SPEEDCTRL_TIME [n] = 5ms (equivalent time constant speed
control loop for feedforward control)
Following axis:
MD32810 $MA_EQUIV_SPEEDCTRL_TIME [n] = 3ms
• Time constant of dynamic response adaptation for synchronized axis:
MD32910 $MA_DYN_MATCH_TIME [n] = 5ms - 3ms = 2ms (time constant of dynamic
response adaptation)
The dynamic response adaptation must be activated axially with the machine data:
MD32900 $MA_DYN_MATCH_ENABLE (dynamic response adaptation)
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
G1: Gantry axes
2.4 Start-up of gantry axes
163