Siemens SINUMERIK 840D sl Function Manual page 314

K3: Compensations
5.5 Dynamic feedforward control (following error compensation)
Methods
There are two "dynamic feedforward control" methods:
● Speed feedforward control (velocity-dependent)
● Torque feedforward control (acceleration-dependent)
Activation
The feedforward control method is selected and activated using the machine data:
MD32620 $MA_FFW_MODE (feedforward control mode)
Value
0
1
2
3
4
Activation/deactivation in part program
The following axis-specific machine data can be used to define that the feedforward control
for the respective axis/spindle can be activated and deactivated by the part program:
MD32630 $MA_FFW_ACTIVATION_MODE (activate feedforward control from program)
Value
0
1
2
The feedforward control is activated/deactivated from the part program using the operations:
FFWON: Feedforward control ON
FFWOF: Feedforward control OFF
The default setting (i.e. M30 even after reset) is entered using the channel-specific machine
data:
MD20150 $MC_GCODE_RESET_VALUES (initial setting of the G groups)
FFWON/FFWOF is active for all axes/spindles in the axis mode, where:
MD32630 $MA_FFW_ACTIVATION_MODE = 1 (or 2)
and
MD32620 $MA_FFW_MODE = 1, 2, 3 or 4
The identical MD32630 setting should be used for axes that interpolate with each other.
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Meaning
No feedforward control
Speed feedforward control with PT1 balancing
Torque feedforward control with PT1 balancing
Speed feedforward control with Tt balancing
Torque feedforward control with Tt balancing
Meaning
The feedforward control cannot be activated and deactivated from the part program. This
means that the state specified using MD32620 $MA_FFW_MODE is always effective for the
axis/spindle.
The feedforward control can be activated and deactivated from the part program. The operation
becomes active immediately.
The feedforward control can be activated and deactivated from the part program. The operation
only becomes active the next time that the axis comes to a standstill.
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions