Siemens SINUMERIK 804D sl Commissioning Manual page 134

NCK start-up
10.5 Parameterize axis data
Checking the loop gain
If a K
For checking, reduce the acceleration of the axis in
• MD32300 MAX_AX_ACCEL (Axis acceleration)
to make sure that the drive does not reach its current limit when accelerating and
decelerating.
The K
spindle positioning, tapping).
The approach behavior at various speeds can be checked by means of a storage
oscilloscope or the HMI Advanced servo trace software. The speed setpoint is recorded for
this purpose.
Figure 10-13 Speed setpoint characteristic
No overshoots may occur while the drive is approaching the static states; this applies to all
speed ranges.
Overshoot in the position control loop
The reasons for an overshoot in the control loop can be:
• Acceleration too high (current limit is reached)
• Rise time too long (re-optimization necessary)
• Mechanical backlash
• Mechanical components canted
For safety reasons, set the K
value.
• MD32900 DYN_MATCH_ENABLE[n]
• MD32910 DYN_MATCH_TIME[n]
For axes interpolating with each other, the same K
K -factor of the weakest interpolating axis.
V
Contour monitoring must be set subsequently (MD 36400 CONTROL_TOL).
Acceleration
In the following machine data machine axes are accelerated and decelerated with the values
entered.
134
factor is already known for a machine type in question, this can be set and checked.
V
factor must also be checked for high speeds of the rotary axis and spindle (e.g., for
V
factor for each axis to a little less than the maximum possible
V
V
Commissioning Manual, 11/2006, 6FC5397-2AP10-2BA0
-factor should be set. Normally it is the
CNC Part 1 (NCK, PLC, drive)