Siemens SINUMERIK 808D Parameter Manual page 248

Machine data
3.4 Axis-specific machine data
When entering the servo gain factor it is important to take into account that the gain
factor of the whole position control loop is still dependent on other parameters of
the controlled system. A distinction should be made between a "desired servo gain
factor" (MD32200 $MA_POSCTRL_GAIN) and an "actual servo gain factor" (produced by the
machine). Only when all the parameters of the control loop are matched will these servo
gain factors be the same.
Other factors are:
●
Speed setpoint adjustment (MD32260 $MA_RATED_VELO, MD32250 $MA_RATED_OUTVAL)
or automatic speed setpoint interface adjustment (with MD32250 $MA_RATED_OUTVAL = 0
etc.)
●
Correct actual value recording of the position encoder (no. of encoder marks, high
resolution, encoder mounting location, gear etc.)
●
Correct actual speed recording on the drive (standardization, possibly tacho
compensation, tacho generator)
Note:
Axes which interpolate together and are to perform a machining operation, must either
have the same gain setting (i.e. have the identical following error = 45° slope at the
same velocity) or they must be matched via MD32910 $MA_DYN_MATCH_TIME.
The actual servo gain factor can be checked by means of the following error (in the
service display).
In the case of analog axes, a drift compensation must be performed prior to the control.
The index [n] of the machine data has the following coding:
[control parameter set no.]: 0-5
32250 RATED_OUTVAL
% Rated output voltage
CTEQ
808d-me42 1
808d-me62 1
808d-te42 1
808d-te62 1
808d-mte40 1
808d-mte60 1
Description:
a.)
Scaling of the manipulated variable with analog drives:
The value of the speed setpoint in percent is to be entered in this MD, in relation to
the maximum speed setpoint at which the motor speed specified in MD32260
$MA_RATED_VELO[n] is reached.
Related to:
MD32250 $MA_RATED_OUTVAL[n] only makes sense in combination with MD32260
$MA_RATED_VELO[n].
Example:
1.
1875 rpm ==> RATED_OUTVAL = 50%, RATED_VELO = 11250 [degrees/s]
2.
3000 rpm ==> RATED_OUTVAL = 80%, RATED_VELO = 18000 [degrees/s]
3.
562.5 rpm ==> RATED_OUTVAL = 15%, RATED_VELO = 3375 [degrees/s]
All three examples are possible for one and the same drive/converter. The ratio of the
two values is decisive; it is the same in all three examples.
248
100.0
0.0
100.0
0.0
100.0
0.0
At a voltage of 5V, the drive reaches a speed of
At a voltage of 8V, the drive reaches a speed of
At a voltage of 1.5V, the drive reaches a speed of
A01, A11
DOUBLE
0.0 100
0.0 200
0.0 100
0.0 200
0.0 100
0.0 200
A3, D1, G2
NEW CONF
1/1 M
1/1 M
1/1 M
1/1 M
1/1 M
1/1 M
Parameter Manual
List Manual, 01/2017