Siemens SINUMERIK 840D sl Function Manual page 1640

Detailed Description
2.1 Spindle modes
Transition to axis mode
Transition to axis mode by programming:
• The spindle with its own identifier or by M70 and by means of the M function:
• The relevant machine data when changing the servo parameter set are:
MD31050 $MA_DRIVE_AX_RATIO_DENOM
MD31060 $MA_DRIVE_AX_RATIO_NUMERA
MD32200 $MA_POSCTRL_GAIN
MD32452 $MA_BACKLASH_FACTOR
MD32610 $MA_VELO_FFW_WEIGHT
MD32800 $MA_EQUIV_CURRCTRL_TIME
MD32810 $MA_EQUIV_SPEEDCTRL_TIME
MD32910 $MA_DYN_MATCH_TIME
MD36012 $MA_STOP_LIMIT_FACTOR
MD36200 $MA_AX_VELO_LIMIT
• The dynamic limits of the axis stored in the machine data are applicable in axis operation.
• The axis switches to the current feedforward control mode as designated by the MD and
• When using resolution changes in (analog) drive actuators, the following NC program
Table 2-1
SPOS=...
M5
M70
C=...
30
MD20094 $MC_SPIND_RIGID_TAPPING_M_NR
the commands FFWON and FFWOF.
Other notes on the servo parameter set:
References:
/FB1/Function Manual, Basic Functions; Velocities, Setpoint/Actual-Value System,
Closed-Loop Control (G2)
steps are required:
Change over to axis mode:
Closed-loop controller enable off (by PLC)
→ Output to PLC
Switch actuator (by PLC on account of M70)
Closed-loop controller enable on (by PLC)
NC travels with axis parameter set
(Measuring gear denominator)
(Numerator load gear unit)
(Servo gain factor (Kv))
(Weighting factor for backlash)
(Weighting factor for feedforward control)
(Equivalent time constant current control circuit
for feedforward control)
(Equivalent time constant speed control loop for
feedforward control)
(Time constant for dynamic matching)
(Factor for exact stop coarse/fine and zero speed
control)
(Threshold value for velocity monitoring)
Basic logic functions: Spindles (S1)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0