Position Controller, Position Setpoint Filter: Phase Filter - Siemens SINUMERIK 840D sl Function Manual

G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
7.6.3

Position controller, position setpoint filter: Phase filter

Function
The axial phase filter setpoint (dead time / delay) implements a pure phase shift with which
the setpoint phase response can be influenced. Together with the axial setpoint jerk filter
(MD32402_$MA_AX_JERK_MODE[<Axis>] = 2; see section "Position controller, position
setpoint filter: Jerk filter (Page 365)") it makes it possible to adapt the amplitude response and
the phase response independently of one another to the dynamically weakest of several axes,
which should proceed along a programmed course together.
①
②
Figure 7-12
Parameter assignment: Time constant
The time constant for the axial phase filter setpoint can be set in the range:
(0 to 64) * position control cycle clock (MD10061 $MN_POSCTRL_CYCLE_TIME)
The value of the time constants must be entered in seconds [s] in the machine data:
MD32895 $MA_DESVAL_DELAY_TIME[<Axis>]
Example: Position control cycle clock: 2 ms ⇒ adjustable time constant: 0.0 to 0.128 s
Note
The time constant of the phase filter setpoint delays the axis' response characteristics for
tapping, retractions, and exact stops / block changes, etc. It is therefore recommended to set
the time constant as low as possible.
Limiting to a maximum value
A greater time constant than the permitted maximum value (64 * position control cycle clock)
is limited internally to the maximum value. No message / alarm is displayed.
368
Position control cycle clock: 2 ms
Axial phase filter setpoint time constant: 19.2 ms
Effect of the axial phase filter setpoint:
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions