Response On Different Velocity Transitions; Position Control) - Siemens SIMATIC S7-300 Manual

Optimization for overshoot
Evaluate the overshoot in the target position (s-overshoot in the servicing
data).
For suitable machine data changes, see Table 7-5.
Optimization for positioning time
Evaluate the approach time to the target position (approach time Te in the
servicing data).
For suitable machine data changes, see Table 7-5.
Optimization for especially soft travel (super-soft)
For particular applications, especially soft travel response of the axis is desir-
able. By choosing the following output values for the machine data affecting
the dynamic response you can produce a very soft movement where the ac-
celeration is controlled exclusively by the jolt filter. The effective maximum
acceleration in movement-reversal processes responds proportionally to the
difference in speed, and reaches its maximum in the transition from v = 0 to
maximum speed (see Figure 7-13).
The maximum value of the actual effective acceleration can be estimated as
follows:
a
Fig. 7-13 Response on different velocity transitions (sum effect of jolt filter and
FM 354 Servo Drive Positioning Module
Acceleration, delay
2
MD40 = MD41 (mm/s ) = 0
Jolt time
MD42 (ms) = 0.5 Ta (ms)
Positioning loop amplification
MD38 (1/min) = 100,000 : Ta (ms)
2
[mm/s ] = 16 MD23 [mm/min] : Ta [ms]
max
U
v
T_a

position control)

Starting up the FM 354

Response on different velocity transitions

(sum effect of jolt filter and position control)
t
7-21