Interpolating Special Axes - Siemens SINUMERIK 840D sl Commissioning Manual

Commissioning
5.7 Calculating controller data
After a controller optimization by AST, the newly determined controller parameters are written
to the active data set. When you provide a different data set as 0 for the optimization by AST,
you must switch over the active data set before the optimization via the PLC.
5.7.3

Interpolating special axes

For the robot-specific default controller setting, it is intended that all of the robot axes correctly
interpolate with one another. In the event of one or more with interpolating special axes (e.g.
linear axis, rotary tilting table), you must ensure the correct interpolation behavior during their
parameterization. To do this, equalize the parameterization of the setpoint channel of the
special axes with that of the robot axes after the basic optimization has been carried out with
AST. Proceed as described below:
1. Put the axis in a dynamically unfavorable condition, e.g. maximum bearing load or lowest
natural frequency.
2. Carry out the basic optimization of the special axis with AST using the "damping optimal"
strategy.
3. Manually import the machine data from the following list from the robot axes into the special
axis.
MD number
32400
32402
32410
32900
32910
32890
32895
32620
32800
32640
33000
54
MD name
MA_AX_JERK_ENABLE
MA_AX_JERK_MODE
MA_AX_JERK_TIME
MA_DYN_MATCH_ENABLE
MA_DYN_MATCH_TIME
MA_DESVAL_DELAY_ENABLE
MA_DESVAL_DELAY_TIME
MA_FFW_MODE
MA_EQUIV_CURRCTRL_TIME
MA_STIFFNESS_CONTROL_ENABLE
MA_FIPO_TYPE
Comment
Activation jerk filter
Jerk filter type
Jerk filter time constant
Dynamic adjustment activation
Dynamic adjustment time constant
Axial phase filter activation
Axial phase filter time constant
Feedforward control type
Symmetrization time precontrol
Dynamic Stiffness Control
Fine interpolator type
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 12/2018, A5E45238414B AB