Siemens SINUMERIK 840D sl Function Manual page 366

G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
The effect of the filter can be monitored by means of the effective servo gain factor (K
is displayed on the "Axis service" screen form. The filtering effect rounds the position setpoints
slightly, thus reducing the path accuracy so that with increasing filter time a smaller effective
servo gain factor (K
Note
The jerk filter creates a dependent phase offset for each amplitude setting. Only the additional
use of the phase filter (see "Position controller, position setpoint filter: Phase filter (Page 368)")
permits a transparent setting of the axis dynamic response.
Activation
To activate the axial jerk filter setpoint, the following machine data must be set to "TRUE":
MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)
Parameterization
The axial jerk filter is parameterized via the machine data:
MD32402 $MA_AX_JERK_MODE (filter type for axial jerk limitation)
MD32410 $MA_AX_JERK_TIME (time constant for the axial jerk filter)
Example:
MD32400 $MA_AX_JERK_EN‐
ABLE
MD32402
$MA_AX_JERK_MODE
MD32410
$MA_AX_JERK_TIME
If filter mode:MD32402 $MA_AX_JERK_MODE = 2 was not activated previously, "Power On"
must be initiated once.
Otherwise, "Enable machine data" or "Reset" at the machine control panel are sufficient.
Note
Generally, the filter is set using:MD32402 $MA_AX_JERK_MODE = 2.
366
) is displayed.
V
= 1 Enable filter calculation
= 2 Filter mode, moving average value
= 0.02 Set the filter time in seconds (e.g. 20 ms)
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
), which
V
Basic Functions