Siemens SINUMERIK 828D Commissioning Manual page 182

Tuning
6.1 Control response
connected via the motor encoder, the position control loop can be connected via the motor
encoder or via the direct measuring system.
Precondition
The dynamic stiffness control is set before automatic tuning.
MD32640[0] $MA_STIFFNESS_CONTROL_ENABLE = 1
This then permits a position control with a faster cycle time. When dynamic stiffness control is
used, the following machine data must be set: MD32110 $MA_ENC_FEEDBACK_POL = 1
If a polarity reversal is required, the p0410 parameter "Actual encoder inversion value" must
be set in the drive:
● p0410[0]=1 invert actual speed value
● p0410[1]=1 invert actual position value
If the "Automatic servo tuning" function is used for a main spindle, it is possible that no PLC
signal for the servo release is present. The machine manufacturer should provide a method
to activate this PLC signal for the tuning, for example, a special key combination or the setting
of a flag in the PLC status.
Backing up drive data
When the drive is switched on or a "Drive Reset" performed, the SINAMICS S120 data from
the saved file is loaded into the associated drive. To permanently accept changes made to the
drive data after the new power on/off or after a "Drive Reset", the data must be saved.
Note
A "Reset (po)" has no effect on the drive data.
Procedure:
1. Press the "Drive parameter" softkey and then the "Save/reset" softkey.
2. Press the "Save" softkey and finally the "Drive system" softkey.
Messages in the lower left-hand area of the screen indicate the status of the save action. The
following window is displayed when the save action completes: "All drive objects saved".
References
You can find further details in the following manuals:
● SINUMERIK Operate (828D_IH9) Commissioning Manual; Section "Trace"
● Basic Functions Function Manual; Velocities, Setpoint-Actual Value Systems, Closed-Loop
Control (G2)
● Extended Functions Function Manual; Compensations (K3)
168
Commissioning Manual, 10/2015, 6FC5397-3DP40-5BA3
CNC commissioning