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6 Programming the control
6.9
Axes and spindles
Automatic scaling
Checking the
loop gain
6-104
For the K
factor 1 (m/min)/mm numerical value 1 must be entered in
V
MD 32200: POSCTRL_GAIN.
The correct scaling of the Kv factor is automatically activated by the following
machine data.
MD 10220: SCALING_USER_DEF_MASK
The correct physical size is taken into account by the following machine data:
MD 10230: SCALING_FACTORS_USER_DEF .
The loop gain is converted using the following formula:
[m/min]
–1
K
=
K
V (s
)
V *
[mm]
If a K
factor is already known for the machine type, it can be set and checked.
V
For the check, the acceleration of the axis is reduced via MD 32300:
MAX_AX_ACCEL to ensure that the drive does not reach its current limit while
accelerating and braking.
In the case of rotary axes and spindles, the K
high speeds (e.g. for spindle positioning, tapping).
The loop gain should always be checked.
If it is not correct, the right Kv factor, e.g. the factor 16.667 is entered in
MD 32200 POSCTRL_GAIN.
The static check of the K
V
the "Service display" menu. The actual K
set value, as the K
factor is used for monitoring functions and otherwise other
V
responses may be caused (e.g. contour monitoring).
For continuous-path operation, all the axes involved in the interpolation must
have the same dynamic behavior.
Note
Axes which interpolate with one another must have the same following error at
the same velocities. This can be achieved by setting the same K
dynamic matching via the following machine data:
MD 32900: DYN_MATCH_ENABLE (dynamic matching) and
MD 32910: DYN_MATCH_TIME (time constant for dynamic matching)
Reference material: /FB1/ G2, Functional description of the basic machines,
SINUMERIK 840D/810D Start-Up Guide (IADC) – 03/2006 Edition
* 16.66667
factor must also be checked at
V
factor is done using the "Service axis" soft key from
factor must correspond exactly to the
V
Velocities, setpoint/actual value systems, control
© Siemens AG 2006 All Rights Reserved
03/2006
factor or by
V
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