Siemens SINUMERIK 828D Function Manual page 376

G2: Velocities, setpoint / actual value systems, closed-loop control
7.5 Closed-loop control
Servo gain factor (K ) setting for SINUMERIK 840D sl
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Figure 7-11 Dynamic response adaptation
Dynamic response adaptation
Axes that interpolate with one another, but with different K
the dynamic adaptation function. This allows an optimum contour accuracy to be achieved without loss of control
quality by reducing the K
The function is activated via:
MD32900 $MA_DYN_MATCH_ENABLE = 1 (dynamic response adaptation)
The dynamic response adaptation is realized by entering a new equivalent time constant. It is calculated from the
difference in the equivalent time constant of the dynamically weakest axis and the axis to be adapted:
MD32910 $MA_DYN_MATCH_TIME [n] = <difference in the equivalent time constant>
Example of a dynamic response adaptation of 3 axes without speed precontrol
The equivalent time constant of the position control loop is:
Axis 1: 30 ms
Axis 2: 20 ms
Axis 3: 24 ms
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:
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factors to the dynamically weakest axis.
v
factors can be set to the same following error using
v
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Basic Functions