Siemens SINUMERIK 840D Function Manual page 758

S1: Spindles
18.2 Operating modes
● Axis mode can be activated in all gear stages.
If the actual position value encoder is installed on the motor (indirect measuring system), the
positioning and contouring accuracy can vary for the different gear stages.
● The gear stage cannot be changed when the axis mode is active. For this purpose, the
spindle must first be switched to control mode with M41 ... M45 or M5, SPCOF.
● In axis mode, the first parameter set is effective (machine data index = zero).
Further information
G2: Velocities, setpoint / actual value systems, closed-loop control (Page 31)
Dynamic response
The dynamic limits of the axis apply in axis mode. For example:
● MD32000 $MA_MAX_AX_VELO[<axis>] (maximum axis velocity)
● MD32300 $MA_MAX_AX_ACCEL[<axis>] (maximum axis acceleration)
● MD32431 $MA_MAX_AX_JERK[<axis>] (maximum axial jerk for path motion)
Feedforward control
The feedforward control mode active for the axis is retained.
A detailed description of the "Dynamic feedforward control" function can be found in:
Further information
Function Manual Monitoring and Compensating; Compensations > Dynamic feedforward
control (following error compensation)
Example: Resolution switchover for analog actuator
Switching to axis mode
Programming
SPOS=...
M5
M70
C=...
Switching to spindle mode
Programming
C=...
M71
M3/4/5 or SPOS=...
758
Comment
; Control enable off (from PLC)
→ is output on PLC
; Switch actuator (from PLC on account of M70)
Control enable on (from PLC)
; NC traverses with axis parameter set
Comment
; → is output to PLC
Closed-loop controller enable off (from PLC)
Switch actuator (from PLC)
Switched to spindle parameter set (1-5) internally in the
NC, controller enable on (from PLC)
; NC traverses with spindle parameter set
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA