Siemens SINUMERIK 840D Function Manual page 275

Axial optimization
For symmetrically set up gantry axes, it is recommended that you set the K
precontrol settings for all of the axes of a group identically.
The following control parameters must be set to the optimum axial value for both the guide axis
and the synchronous axis:
● MD32200 $MA_POSCTRL_GAIN (servo gain factor)
● MD32620 $MA_FFW_MODE (feedforward control parameter)
● MD32610 $MA_VELO_FFW_WEIGHT (feedforward control factor for acceleration/speed)
● MD32650 $MA_AX_INERTIA (inertia for torque feedforward control)
● MD32800 $MA_EQUIV_CURRCTRL_TIME (equivalent time constant current control loop
for feedforward control)
● MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop
for feedforward control)
Further information
Function Manual Monitoring and Compensating; Compensations
Same settings
The following control parameters must be set to the same value for the guide axis and
synchronous axis:
● MD33000 $MA_FIPO_TYPE (fine interpolator type)
● MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)
● MD32402 $MA_AX_JERK_MODE (filter type for axial jerk limitation)
● MD32410 $MA_AX_JERK_TIME (time constant for the axial jerk filter)
● MD32420 $MA_JOG_AND_POS_JERK_ENABLE (basic position of axial jerk limitation)
● MD32430 $MA_JOG_AND_POS_MAX_JERK (axial jerk)
Further information
Function Manual Basic Functions; Speeds/setpoint/actual value systems, closed-loop control
Dynamics matching
The guide axis and the coupled synchronous axis must be capable of the same dynamic
response to setpoint changes. The same dynamic response means: The following errors are
equal in magnitude when the axes are operating at the same speed.
The dynamic response adaptation function in the setpoint branch makes it possible to obtain an
excellent match in the response to setpoint changes between axes which have different
dynamic characteristics (control loops). The difference in equivalent time constants between
the dynamically "weakest" axis and the other axis in each case must be specified as the
dynamic response adaptation time constant.
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
G1: Gantry axes
9.4 Start-up of gantry axes
factors and
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