Siemens SINUMERIK 828D Function Manual page 274

D1: Diagnostics tools
5.3 Service overview
Control technology concept
The figure below shows at which points in the control­loop the axis and spindle information is read off.
Figure 5-1 Overview diagram of axis and spindle information
Check of the position controller setting
The position controller settings can be easily monitored via the service display "axis/spindle". 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.
For a feedrate of 1 m/mm, a following error of 1 mm must be obtained (for servo gain factor = 1 and constant
velocity travel), as the servo gain factor is defined as follows:
If the desired servo gain factor (Kv) does not correspond to the actual factor, the possible causes and remedial
optimization options are as follows.
Basic Functions
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Function Manual, 09/2011, 6FC5397-0BP40-2BA0