Siemens SINUMERIK 840D sl Function Manual page 373

Supplementary conditions
DSC
If the integrator function is used, DSC (Dynamic Stiffness Control) must be switched off.
Example
Setting result after several iterative processes for
Machine data settings:
● MD32220 $MA_POSCTRL_INTEGR_ENABLE = 1
● MD32210 $MA_POSCTRL_INTEGR_TIME = 0.003
● MD32200 $MA_POSCTRL_GAIN[1] = 5.0
Parameter set selection 0
Each of the following quantities - following error, actual velocity, actual position, and position
setpoint - has been recorded by servo trace. When traversing in JOG mode, the characteristic
of the individual data shown in the following figure was then drawn.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
R and T .
K n
373