Siemens SINUMERIK 840D sl Function Manual page 301

Checks
Check of the position controller setting
The position controller settings can be easily managed via the service axis display.
The number 1 (corresponds to servo gain = 1) should be entered in machine data:
MD32200 $MA_POSCTRL_GAIN [n] (servo gain factor).
The change takes effect immediately.
Because the servo gain factor is defined as
a following error of 1 mm must be measured (with KV = 1 and constant velocity) at a
feedrate of 1 m/min.
If the desired servo gain (KV) factor does not correspond to the actual factor, the possible
causes and remedial optimization options are as follows:
• Speed or torque feedforward control is activated. A higher servo gain factor is displayed
• Filter for jerk limitation or dynamic response adaptation is activated. A lower servo gain
Basic logic functions: Diagnostic tools (D1)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
than was set with machine data:
MD32200 $MA_POSCTRL_GAIN [n] (servo gain factor)
.
factor is displayed than was set with machine data:
MD32200 $MA_POSCTRL_GAIN [n] (servo gain factor)
.
Detailed description
2.3 Axis/spindle service display
19