Dynamic Response Adaptation - Siemens SINUMERIK 840D sl Function Manual

K3: Compensations
5.5 Dynamic feedforward control (following error compensation)
Fine adjustment
The torque feedforward control for the particular axis/spindle can be optimized by making slight
changes (fine tuning) to the values in MD32800 and MD32650.
To make a check, the following error should be recorded via the trace functionality. In addition
to traversing at a constant velocity, the following error should be monitored especially when
the axis/spindle accelerates.
Note
As a result of the extremely fast sequences when accelerating, when commissioning the torque
feedforward control, the service display cannot be used to check the fine adjustment.
References
For detailed information about setting the equivalent time constants of the current control loop
(MD32810) refer to:
● Function Manual, Basic Functions; Velocities, Setpoint / Actual Value Systems, Closed-
Loop Control (G2), Section: Optimization of the control
5.5.4

Dynamic response adaptation

Function
For axes that interpolate with one another, but with different axial control loop response times,
dynamic response adaptation can be used to achieve identical time responses of all axes to
ensure optimum contour accuracy without loss of control quality.
Commissioning
Time constant for dynamic response adaptation (MD32910)
The difference between the equivalent time constants of the "slowest" speed or current control
loop and the particular axis should be entered as time constant for the dynamic response
adaptation in the following machine data.
MD32910 $MA_DYN_MATCH_TIME (time constant of dynamic response adaptation)
Example:
Equivalent time constants of the speed control loop (MD32810) for active speed feedforward
control of axes 1, 2 and 3:
● Axis 1: 2 ms
● Axis 2: 4 ms (dynamically the slowest axis)
● Axis 3: 1 ms
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Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions