Siemens SINUMERIK 802D sl Function Manual page 134

Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
7.4 Closed-loop control
Figure 7-11
For a description of jerk limiting, see the section titled "Acceleration"
For a description of precontrol, backlash compensation, and leadscrew error compensation,
refer to the section titled "Compensation (K3)".
Servo gain factor
To ensure that only low contour deviations occur in continuous-path mode, a high servo gain
factor MD32200 POSCTRL_GAIN[n] (position controller servo gain) is required.
The index[n] of the machine data has the following code:
[closed-loop control parameter set no.]: 0 - 5
However, if the servo gain factor is too high, this will result in instability, overshoots, and
possibly impermissibly high loads on the machine.
The maximum permissible servo gain factor depends on the following:
● Design and dynamic response of the drive
● Quality of the machine (elasticity, vibration damping)
● Position-control cycle
Parameter sets of the position controller
Position control can operate with 6 different parameter sets. This information is used for
● Fast adaptation of position control to altered machine characteristics during operation,
● Matching the dynamic response of an axis to another axis, e.g. during tapping.
134
Principle of position control for an axis/spindle
(rise time, acceleration and braking capacity)
e.g. a spindle gear change.
Turning, Milling, Nibbling
Function Manual, 11/2012, 6FC5397-1CP10-5BA0