Example 4: Reoptimization Of The Path Interpolation - Siemens SINUMERIK 840D sl Function Manual

T4: Automatic retuning with AST - only 840D sl
12.5 Examples
CYCLE754(myaxiswithnewload,1,2,3)
; CYCLE754(myaxiswithnewload,1,1,3)
CYCLE755(1,"restore point 1")
; CYCLE751(3)
CYCLE751(4)
CYCLE757(myaxiswithnewload,"ANEWTUNING.XML",1,,)
CYCLE757(myaxiswithnewload,"ANEWFREQRESP.CSV",3,,)
; The inertia can be used to limit the acceleration:
CYCLE759(myaxiswithnewload,34,,,"_AST_R_ESTINERTIA")
; If necessary, check the optimization results and then activate.
; Activate result:
CYCLE756(myaxiswithnewload,2,1)
CYCLE751(2)
; Switch to the newly optimized DDS.
; Has Kv been optimized in the current parameter set?
; The equivalent time of the precontrol was forced by the strategy.
; For path interpolation, all axes must select the correct servo parameter set.
; Limit the acceleration depending on the new inertia.
M30
12.5.4

Example 4: Reoptimization of the path interpolation

For a 5-axis machine, the rotary axis with torque motor (here: 4. axis) must position very
accurate and participate in the path interpolation. The changes of the clamping situation and
the inertia are completely unknown or so large that even large changes of the equivalent time
(also power controller) are expected. The unknown equivalent time means that the path
interpolation must be tested and compensated again after the axis optimization.
Only the rotary axis (workpiece-dependent) should be reoptimized. The other axes need to be
adapted in the precontrol only when the dynamic response of the rotary axis has changed
significantly. The rotary axis has several DDS. A safe data set that has a stable setting for
clamping the workpieces is selected. It must be considered that the mass inertia to be clamped
is not known. Consequently, the maximum inertia must be used for the calculation.
New current setpoint filters must probably be set for the rotary axis. The speed controller must
be reoptimized. Because it is not known whether the low-frequency behavior has changed,
the position controller must also be reoptimized and the associated mechanical frequency
response measured.
The results, such as the complete inertia, can be read with CYCLE759. The newly optimized
speed controller is written to another data set. The newly optimized position controller can be
written to any desired axis parameter set. The correct path interpolation is guaranteed by all
542
; Add DDS3 to the data set list and over-
write after optimization.
; Axis: Add parameter set 4 to the data
set list and overwrite after optimiza-
tion.
; Save the original state in a file.
; Start the optimization by activating
the results.
; Start optimization without activation
of the results, if necessary, check the
results first.
; Save the optimization data in an XML
file.
; Export the speed-controlled system.
; Fetch the inertia.
; Activate axis-optimum results, save
the boot files.
; Close the optimization session.
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions