Siemens SINUMERIK 804D sl Commissioning Manual page 301

MD31050 $MA_DRIVE_AX_RATIO_DENOM
MD31060 $MA_DRIVE_AX_RATIO_NUMERA
MD32200 $MA_POSCTRL_GAIN
MD32452 $MA_BACKLASH_FACTOR
MD32610 $MA_VELO_FFW_WEIGHT
MD32800 $MA_EQUIV_CURRCTRL_TIME
MD32810 $MA_EQUIV_SPEEDCTRL_TIME
MD32910 $MA_DYN_MATCH_TIME
MD36012 $MA_STOP_LIMIT_FACTOR
MD36200 $MA_AX_VELO_LIMIT
• The dynamic limits of the axis stored in the machine data are applicable in axis operation.
• The axis switches to the current feedforward control mode as designated by the MD and
• When using resolution changes in (analog) drive actuators, the following NC program
Table 15-12 Change over to axis mode:
SPOS=...
M5
M70
C=...
Table 15-13 Switch back to spindle mode
C=...
M71
M3/4/5
or
SPOS=...
CNC Part 1 (NCK, PLC, drive)
Commissioning Manual, 11/2006, 6FC5397-2AP10-2BA0
the commands FFWON and FFWOF.
Other notes on the servo parameter set:
References:
/FB1/Function Manual, Basic Functions; Velocities, Setpoint/Actual-Value System,
Closed-Loop Control (G2)
steps are required:
Closed-loop controller enable off (by PLC)
→ Output to PLC
Switch actuator (by PLC on account of M70)
Closed-loop controller enable on (by PLC)
NC travels with axis parameter set
→ Output to PLC
Closed-loop controller enable off (by PLC)
Switch actuator (by PLC)
Switched to spindle parameter set (1-5) internally in the NC,
controller enable on (by PLC)
NC travels with spindle parameter set
(Measuring gear denominator)
(Numerator load gear unit)
(Servo gain factor (Kv))
(Weighting factor for backlash)
(Weighting factor for feedforward control)
(Equivalent time constant current control circuit
for feedforward control)
(Equivalent time constant speed control loop for
feedforward control)
(Time constant for dynamic matching)
(Factor for exact stop coarse/fine and zero speed
control)
(Threshold value for velocity monitoring)
Fundamentals
15.9 Spindle data
301