Siemens SINUMERIK 802D sl Function Manual page 101

Example
When the speed feedforward control is active, the dynamic response is primarily determined
by the equivalent time constant of the "slowest" speed control loop.
Leading axis:
MD32810 EQUIV_SPEEDCTRL_TIME [n] = 5 ms
Synchronized axis:
MD32810 EQUIV_SPEEDCTRL_TIME [n] = 3 ms
Time constant of dynamic response adaptation for synchronized axis:
MD32910 DYN_MATCH_TIME [n] = 5 ms - 3 ms = 2 ms
(time constant of dynamic response adaptation)
Dynamic response adaptation must be activated axially with the following machine data:
MD32900 DYN_MATCH_ENABLE (dynamic response adaptation)
Note
Checking dynamic response adaptation:
For the purpose of fine tuning, it may be necessary to adjust servo gain factors or
feedforward control parameters slightly to achieve an optimum result.
Referencing gantry axes
The positions of the reference points for the leading and synchronized axes must first be set
to almost identical values.
To ensure that the synchronization compensatory motion of the gantry axes is not started
automatically, during first commissioning the gantry warning limit must be set to 0 before
referencing:
MD37100 GANTRY_POS_TOL_WARNING (gantry axis definition)
This will prevent a warning message being output during traversing motion.
In cases where an excessively high additional torque is acting on the drives due to
misalignment between the leading and synchronized axes, the gantry grouping must be
aligned before the axes are traversed. After this, the gantry axes must be referenced as
outlined in the section titled "Referencing and synchronizing gantry axes":
Once the leading and synchronized axes have been referenced, the difference between
them must be determined (by comparing the actual position value display on the "Service
Axes" screen in the "System" → "Service Display" operating area). This difference must be
applied as the reference point offset:
MD34080 REFP_MOVE_DIST (reference point distance)
MD34090 REFP_MOVE_DIST_CORR (reference point offset/absolute offset)
Turning, Milling, Nibbling
Function Manual, 11/2012, 6FC5397-1CP10-5BA0
Gantry axes (G1)
6.4 Start-up of gantry axes
101