Siemens SINUMERIK 808D Parameter Manual page 268

Machine data
3.4 Axis-specific machine data
808d-mte40 6
808d-mte60 6
Description:
This time constant must be equal to the equivalent time constant of the closed current
control loop.
It is used for parameterizing the speed feedforward control and for calculating the
dynamic following error model (contour monitoring).
In addition, this MD determines the time behavior of the closed-loop speed control
circuit for simulated drives (MD30130 $MA_CTRLOUT_TYPE 0).
In order to set the speed feedforward control correctly, the equivalent time constant
of the current control loop must be determined exactly by measuring the step response
of the current control loop.
Closed-loop control free of following errors can be set by inputting negative values
when MD32620 $MA_FFW_MODE=3 (but positioning overshoots may then occur).
Delay values taken into account automatically by the software internally are thus
compensated again until the actually active minimum symmetrizing time "0" is reached.
Any other negative input values have no further effect.
Negative values input when MD32620 $MA_FFW_MODE=1 are automatically converted
internally to the input value "0", which means that they are not active in this case.
Related to:
MD32620 $MA_FFW_MODE (type of feedfoward control)
MD32610 $MA_VELO_FFW_WEIGHT (moment of inertia for speed feedforward control)
MD36400 $MA_CONTOUR_TOL (tolerance band contour monitoring)
32900 DYN_MATCH_ENABLE
- Dynamic response adaptation
CTEQ
- -
Description:
With dynamic response adaptation, axes with different servo gain factors can be set to
the same following error with MD32910 $MA_DYN_MATCH_TIME.
1:
0:
Related to:
MD32910 $MA_DYN_MATCH_TIME[n]
(time constant of dyamic response adaptation)
32910 DYN_MATCH_TIME
s Time constant of dynamic response adaptation
-
- 6
Description:
The time constant of the dynamic response adaptation of an axis has to be entered in
this MD.
Axes interpolating with each other but having different dynamic responses can be
adapted to the "slowest" control loop by means of this value.
The difference of the equivalent time constant of the "slowest" control loop to the
individual axis has to be entered here as the time constant of the dynamic response
adaptation.
The MD is only active if MD32900 $MA_DYN_MATCH_ENABLE = 1.
Related to:
268
0.008, 0.008, 0.008,
0.008, 0.008, 0.008,
0.008, 0.008, 0.008, 0...
0.008, 0.008, 0.008,
0.008, 0.008, 0.008,
0.008, 0.008, 0.008, 0...
FALSE
Dynamic response adaptation active.
Dynamic response adaptation inactive.
0.0, 0.0, 0.0, 0.0, 0.0,
0.0
- -
- -
A07
BOOLEAN
0 -
A07
DOUBLE
0.0 -
1/1 M
1/1 M
G21, S3, G2
NEW CONF
1/1 M
G1, K3, S3, A2, A3, G2, S1, V1
NEW CONF
1/1 M
Parameter Manual
List Manual, 01/2017