Parameter Sets Of The Position Controller - Siemens SINUMERIK 840D sl Function Manual

● With speed feedforward control:
● For combined torque/speed feedforward control
Note
If dynamic response adaptation is realized for a geometry axis, then all other geometry axes
must be set to the same dynamic response.
References:
Commissioning Manual CNC: NCK, PLC, Drives
7.5.2

Parameter sets of the position controller

Six parameter sets per machine axis are available to quickly adapt the position control to the
changed machine properties during operation, e.g. a gear change of the spindle, or to adjust
the dynamic response to another axis, e.g. during tapping.
Machine data
A parameter set comprises the following machine data:
Number
31050
31060
32200
32452
32610
36012
32800
32810
32910
36200
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
G2: Velocities, setpoint / actual value systems, closed-loop control
Identifier $MA_
DRIVE_AX_RATIO_DENOM
DRIVE_AX_RATIO_NUMERA
POSCTRL_GAIN
BACKLASH_FACTOR
VELO_FFW_WEIGHT
STOP_LIMIT_FACTOR
EQUIV_CURRCTRL_TIME
EQUIV_SPEEDCTRL_TIME
DYN_MATCH_TIME
AX_VELO_LIMIT
Meaning
Denominator load gearbox
Numerator load gearbox
Servo gain factor (K )
V
Backlash compensation
Feedforward control factor
Exact stop coarse/fine factor and zero speed
Equivalent time constant, current control loop for feed‐
forward control
Equivalent time constant, speed control loop for feed
forward control
Time constant for dynamic response adaptation
Threshold value for velocity monitoring
7.5 Closed-loop control
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