Siemens SINUMERIK 840Di Function Manual page 287

Because the servo gain factor is defined as
a following error of 1 mm must be measured (with KV = 1 and constant velocity) at a
feedrate of 1 m/min.
If the desired servo gain (KV) factor does not correspond to the actual factor, the possible
causes and remedial optimization options are as follows:
• Speed or torque feedforward control is activated.
• Filter for jerk limitation or dynamic response adaptation is activated.
Diagnostics for alarms
This information is also provided as a diagnostic tool for diagnosing the causes of alarms
such as:
• "Standstill monitoring"
• "Contour monitoring"
• "Speed setpoint limiting"
• "Positioning monitoring"
• "Measuring system changeover not available"
• "Clamping monitoring"
Diagnostic Tools (D1)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
The servo gain factor displayed is higher than the setting in
MD32200 $MA_POSCTRL_GAIN [n] (servo gain (KV) factor).
The servo gain factor displayed is lower than the setting in
MD32200 $MA_POSCTRL_GAIN [n] (servo gain (KV) factor).
⇒ following error >
MD36030 $MA_STANDSTILL_POS_TOL (standstill tolerance)
⇒ contour deviation >
MD36400 $MA_CONTOUR_TOL (tolerance band for contour monitoring)
⇒ Speed setpoint >
MD36210 $MA_CTRLOUT_LIMIT
(maximum speed setpoint)
⇒ following error >
MD36010 $MA_STOP_LIMIT_FINE
(exact stop fine)
⇒ difference between actual position value measuring system 1 and 2 >
MD36500 $MA_ENC_CHANGE_TOL
(maximum tolerance for actual position value measurement)
⇒ following error >
MD36050 $MA_CLAMP_POS_TOL
(clamping tolerance for "Clamping active" interface signal)
Detailed Description
2.3 Axis/spindle service display
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