Siemens SINUMERIK 840Di Function Manual page 428

Detailed Description
2.4 Closed-loop control
2.4.2 Parameter sets of the position controller
Six different parameters sets
The position control can operate with 6 different servo parameter sets.
They are used as follows
1. Fast adaptation of the position control to altered machine characteristics during operation,
2. Matching the dynamics of an axis to another axis, e.g. during tapping.
Parameter set changeover
The following machine data can be changed by switching over the parameter set during operation:
Denominator load gearbox
Numerator load gearbox
K
v
Backlash compensation
Feedforward control factor
Exact stop limits
and zero-speed window
Equivalent time constant
current control loop for torque feedforward
control
Equivalent time constant
speed control loop for speed feedforward control
Time constant for dynamic response adaptation
Threshold value for velocity monitoring
2-54
e.g. a gear change of the spindle.
factor
MD31050 $MA_DRIVE_AX_RATIO_DENOM[n]
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[n]
MD32200 $MA_POSCTRL_GAIN[n]
MD32452 $MA_BACKLASH_FACTOR[n]
MD32610 $MA_VELO_FFW_WEIGHT[n]
MD36012 $MA_STOP_LIMIT_FACTOR[n]
MD36000 $MA_STOP_LIMIT_COARSE
MD36010 $MA_STOP_LIMIT_FINE
MD36030 $MA_STANSTILL_POS_TOL
MD32800 $MA_EQUIV_CURRCTRL_TIME[n]
MD32810 $MA_EQUIV_SPEEDCTRL_TIME[n]
MD32910 $MA_DYN_MATCH_TIME[n]
MD36200 $MA_AX_VELO_LIMIT[n]
Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0