Siemens SINUMERIK 840D sl Commissioning Manual page 334

Fundamentals
15.8 Spindle data
Other notes on the servo parameter set:
References:
/FB1/Function Manual, Basic Functions; Velocities, Setpoint/Actual-Value System, Closed-
Loop Control (G2)
When using resolution changes in (analog) drive actuators, the following NC program steps
are required:
1. Changeover to axis mode
Programming
SPOS=...
M5
M70
C=...
2. Switch back to spindle mode
Programming
C=...
M71
M3/4/5
or
SPOS=...
Change to spindle mode
The interpolation parameter (set 1 ... 5) is selected according to the currently valid gear step.
The feedforward control function is always activated, except for tapping with compensating
chuck.
Machine data:
MD32620 $MA_FFW_MODE (feedforward control type)
must always be not equal to 0.
Feedforward control should always be operated with the value 100% to avoid alarms being
output during positioning.
334
Comment
; Controller enable off (by PLC)
→ is output on PLC
; Switch actuator (by PLC on account of M70)
Controller enable on (by PLC)
; NC traverses with axis parameter set
Comment
; → 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 traverses with spindle parameter set
Commissioning Manual, 07/2007, 6FC5397-2AP10-3BA0
IBN CNC: NCK, PLC, drive