Siemens SINUMERIK 840D sl Commissioning Manual page 333

Special points to be noted
● The feed override switch is active.
● NC/PLC IS:
● The NC/PLC interface signals:
● Axis mode can be activated in all gear steps.
● The gear step cannot be changed when the axis mode is active.
● In axis mode, the machine data of the parameter set with index zero are effective in order
Transition to axis mode
The transition to axis mode is performed by programming:
● the spindle with axis name
● from M70 (or with the M function configured with
The relevant machine data when changing the servo parameter set are:
Machine data
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 the
commands FFWON and FFWOF.
IBN CNC: NCK, PLC, drive
Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0
DB21, ... DBX7.7 (Reset)
does not terminate axis mode as standard.
DB31, ... DBB16 to DBB19 and DBB82 to DBB91
are not important if:
DB31, ... DBX60.0 (axis / no spindle) = 0
If the position actual-value encoder is installed on the motor (indirect measurement
system), the positioning and contouring accuracy may vary for the different gear steps.
The spindle must be switched to control mode.
This is done with M41 ... M45 and M5, SPCOF.
to carry out adaptation in this mode.
MD20094 $MC_SPIND_RIGID_TAPPING_M_NR)
15.8 Spindle data
Meaning
Measuring gear denominator
Numerator load gearbox
K factor
V
Weighting factor for backlash
Weighting factor for feedforward control
Equivalent time constant current control
loop 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
Velocity monitoring threshold value
Fundamentals
333