Siemens SINUMERIK 840D sl Commissioning Manual page 141

Checking the loop gain
If a K
To ensure that the drive does not reach its current limit during acceleration and deceleration,
the acceleration is reduced for checking via the following machine data:
● MD32300 MAX_AX_ACCEL (Axis acceleration)
The K
spindle positioning, tapping).
The approach behavior at various speeds can be checked by means of the HMI Advanced
servo trace software. The speed setpoint is recorded for this purpose.
Figure 10-13 Speed setpoint characteristic
No overshoots may occur while the drive is approaching the static states; this applies to all
speed ranges.
Overshoot in the position control loop
The reasons for an overshoot in the control loop can be:
● Acceleration too high (current limit is reached)
● Rise time too long (re-optimization necessary)
● Mechanical backlash
● Mechanical components canted
For safety reasons, set the K
value.
● MD32900 DYN_MATCH_ENABLE[n]
● MD32910 DYN_MATCH_TIME[n]
For axes interpolating with each other, the same K
K -factor of the weakest interpolating axis.
V
Contour monitoring must be set subsequently (MD 36400 CONTROL_TOL).
IBN CNC: NCK, PLC, drive
Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0
factor is already known for a machine type in question, this can be set and checked.
V
factor must also be checked for high speeds of the rotary axis and spindle (e.g., for
V
factor for each axis to a little less than the maximum possible
V
V
10.5 Parameterize axis data
-factor should be set. Normally it is the
NCK start-up
141