Siemens SINUMERIK 840D sl Function Manual page 358

G2: Velocities, setpoint / actual value systems, closed-loop control
7.5 Closed-loop control
Figure 7-10 Principle representation of the setpoint processing and closed-loop control
For information on the jerk limitation, see Section "B2: Acceleration (Page 243)".
For a description of the feedforward control, backlash, friction compensation, and leadscrew
error compensation.
References:
Function Manual Extended Functions; Compensations (K3)
Fine interpolation
Using the fine interpolator (FIPO), the contour precision can be further increased by reducing
the staircase effect in the speed setpoint. You can set three different types of fine interpolation:
MD33000 $MA_FIPO_TYPE = <FIPO mode>
<FIPO mode>
Servo gain factor (K
V
In order that few contour deviations occur in the continuous-path mode, a high servo gain factor
(K ) is necessary:
V
MD32200 $MA_POSCTRL_GAIN[n]
358
Meaning
1 Differential fine interpolation with mean value generation (smoothing) over an IPO
cycle
2 Cubic fine interpolation
3 Cubic fine interpolation optimized for use with the pre-control for the highest contour
precision
)
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions