Siemens SINUMERIK 840Di sl Commissioning Manual page 520

Drive Optimization with HMI Advanced
14.4 Frequency response measurements
Measurement: Setpoint step change and setpoint ramp
The transient or positioning response of the position control in the time range, and in
particular the effect of setpoint filters, can be assessed with the step and ramp stimulation
functions.
Possible measured variables:
● Actual position value (active position measuring system)
● Control deviation (following error)
Measuring parameters
● Amplitude
● Measurement time
● Settling time
● Ramp time
● MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation) = 1
● MD32410 $MA_AX_JERK_TIME (time constant for the axial jerk filter).
● Offset
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Determines the magnitude of the specified setpoint step change or ramp.
This parameter determines the period of time to be recorded (maximum: 2048 position
controller cycles).
This value represents the delay between measured data recording / test setpoint output
and the injection of the offset.
With default setting: The position reference value is specified with the "Setpoint ramp"
according to the set ramp time. In this case, the acceleration limits which currently apply
to the axis or spindle are effective.
A jerk-controlled motion can be set for a specific axis with:
The position setpoint and the actual value of the active measuring system are recorded in
each case.
The step is stimulated from standstill or starting from the constant traverse speed set in
this parameter.
If an offset value other than zero is input, the step change is stimulated during traversal.
For the sake of clarity, the displayed actual position value does not include this constant
component.
Commissioning Manual, 05/2008, 6FC5397–4CP10–4BA0
Manual