Siemens SINUMERIK 840D Function Manual page 177

Dynamic response
The dynamic response of an axis is influenced by:
● MD32060 $MA_POS_AX_VELO (positioning axis velocity)
The effective positioning axis velocity can be changed:
– Part program / synchronized action: Axial feedrate FA or percentage feedrate override
– PLC: Specification of FRate or overwriting the axial override
● MD32300 $MA_MAX_AX_ACCEL (maximum axis acceleration)
The effective maximum axis acceleration can be changed:
– Part program indirectly: Writes the machine data with subsequent "Activate machine
– Part program directly: Percentage acceleration override ACC
– Synchronized actions indirectly: Writes the machine data and triggers an ASUP for the
– Synchronized actions directly: Percentage acceleration override ACC (cannot be preset
Via the PLC, the same options apply as in synchronized actions.
● Part program commands: BRISKA, SOFTA, DRIVEA, JERKA
Cannot be programmed in synchronized actions (only indirectly via ASUP).
Cannot be specified by the PLC (only indirectly via ASUP).
● Active servo parameter set
The active parameter set can be changed:
– Part program / synchronized action: SCPARA
– PLC: DB31, ... DBX9.0-2 (controller parameter set)
For detailed information on the servo parameter sets, see "Parameter sets of the position
controller (Page 75)".
Note
Dynamic response changes
Dynamic response changes made in the part program do not affect command or PLC axis
motion. Dynamic response changes made in synchronized actions have no effect on traversing
motion programmed in the part program.
Feedforward control
The type of feedforward control and the path axes that should be traversed with feedforward
control can be directly programmed in the part program using FFWON/FFWOF. In
synchronized actions and from the PLC, programming is only possible indirectly via an ASUP.
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
OVRA
data"
activation of "Activate machine data" function
by the PLC).
V1: Feedrates
5.4 Feedrate control
177