Siemens SINUMERIK 840D Function Manual page 71

Figure 2-11
Example of a dynamic response adaptation of three axes without speed feedforward control
The equivalent time constant of the position control loop is:
Axis 1:
Axis 2:
Axis 3:
With an equivalent time constant of 30 ms, axis 1 is the dynamically weakest axis.
This results in the following new equivalent time constants for the axes:
Axis 1:
Axis 2:
Axis 3:
Approximation formulas for the equivalent time constant of the position control loop of an axis
The equivalent time constant T
calculated depending on the type of feedforward control:
● Without feedforward control:
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
G2: Velocities, setpoint / actual value systems, closed-loop control
Dynamic response adaptation
30 ms
20 ms
24 ms
MD32910 $MA_DYN_MATCH_TIME = 0 ms
MD32910 $MA_DYN_MATCH_TIME = 30 ms - 20 ms = 10 ms
MD32910 $MA_DYN_MATCH_TIME = 30 ms - 24 ms = 6 ms
of the position control loop of an axis is approximately
equiv
2.5 Closed-loop control
71