Siemens SINUMERIK 840Di sl Commissioning Manual page 414

NC Commissioning with HMI Advanced
11.5 Axes and spindles
Definition of the Kv factor
The servo gain factor is defined as the ratio of velocity in m/min and the resulting following
error in mm:
i.e. with a Kv factor of 1 and a velocity of 1 m/min, the following error will be 1 mm.
The Kv factor of the machine axis is entered via the following machine data:
● MD32200 $MA_POSCTRL_GAIN (Kv factor)
Note
To adapt the input/output unit of the Kv factor selected by default to the internal unit [1/s],
the following machine data are assigned by default:
• MD10230 $MN_SCALING_FACTORS_USER_DEF[9] = 16.666667
• MD10220 $MN_SCALING_USER_DEF_MASK = 'H200'; (Bit-No. 9 as Hex-Value).
When entering the servo gain factor it is important to check that the gain factor of the whole
position control loop is still dependent on other parameters of the controlled system.
These factors are:
● MD32260 $MA_RATED_VELO
● MD32250 $MA_RATED_OUTVAL
● Tacho adjustment on the speed controller
● Tacho generator on drive.
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NOTICE
Machine axes that interpolate one with another must have the same following error at
the same velocities.
This is to be achieved by setting the same KV factor or through the dynamic response
adaptation via the following machine data:
• MD32900 $MA_DYN_MATCH_ENABLE
• MD32910 $MA_DYN_MATCH_TIME
The real servo gain factor can be checked with the following error in the service display.
• e.g. HMI Advanced: Operating area "DIAGNOSIS" > Service displays > Service axis.
Commissioning Manual, 05/2008, 6FC5397–4CP10–4BA0
Manual