Siemens SINUMERIK 840D sl Function Manual page 458

Detailed description
2.5 Optimization of the control
MD32950
The function is activated via the following machine data setting:
MD32950 $MA_POSCTRL_DAMPING = 1.
It is possible to enter both positive and negative values,
which will then serve to scale the injection of the positional deviation.
Standard setting:
MD32950 $MA_POSCTRL_DAMPING = 0.
In this case, the injection of positional deviation is inactive.
Note
The weighting of machine data:
MD32950 $MA_POSCTRL_DAMPING
can be set on the basis of step responses, for example.
If the control approaches the stability limit (vibration inclination increases), then the
parameter is too large.
Supplementary condition
1. The functional expansion is available for all control variants,
2. The function can only be used on axes with two encoders:
If these conditions are not met, reset alarm 26016 will acknowledge the function when an
attempt is made to activate machine data:
MD32950 $MA_POSCTRL_DAMPING.
The function remains deactivated internally when this alarm is active.
70
which use SIMODRIVE 611 digital drives.
MD30200 $MA_NUM_ENCS = 2
One of the encoders must be parameterized as an indirect measuring system and the
other as a direct measuring system.
Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0