Siemens SINUMERIK 828D Function Manual page 378

G2: Velocities, setpoint / actual value systems, closed-loop control
7.5 Closed-loop control
Parameter set changeover
The following machine data can be changed by switching over the parameter set during operation:
Denominator load gearbox
Numerator load gearbox
Servo gain factor (K )
v
Backlash compensation
Feedforward control factor
Exact stop limits
and zero-speed window
Equivalent time constant
Current control loop for combined torque/speed
precontrol
Equivalent time constant
speed control loop for speed feedforward control
Time constant for dynamic response adaptation
Threshold value for velocity monitoring
Tapping or thread cutting
The following applies to parameter sets for axes:
• For machine axes not involved in tapping or thread cutting, parameter set 1 (index=0) is always used.
The further parameter sets need not be considered.
• For machine axes involved in tapping or thread cutting, the same parameter set number as for the current
gear stage of the spindle is activated.
All parameter sets correspond to the gear stages and must therefore be parameterized.
The current parameter set is displayed in operating area "Diagnostics" in the "Service axis" display. The
parameter sets for gear stages 1 to 5 are referred to as interpolation parameters.
378
MD31050 $MA_DRIVE_AX_RATIO_DENOM[n]
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[n]
MD32200 $MA_POSCTRL_GAIN[n]
MD32452 $MA_BACKLASH_FACTOR[n]
MD32610 $MA_VELO_FFW_WEIGHT[n]
MD36012 $MA_STOP_LIMIT_FACTOR[n]
MD36000 $MA_STOP_LIMIT_COARSE[n]
MD36010 $MA_STOP_LIMIT_FINE[n]
MD36030 $MA_STANDSTILL_POS_TOL[n]
MD32800 $MA_EQUIV_CURRCTRL_TIME[n]
MD32810 $MA_EQUIV_SPEEDCTRL_TIME[n]
MD32910 $MA_DYN_MATCH_TIME[n]
MD36200 $MA_AX_VELO_LIMIT[n]
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Basic Functions