Siemens SINUMERIK 840D Function Manual page 70

G2: Velocities, setpoint / actual value systems, closed-loop control
2.5 Closed-loop control
MD33000 $MA_FIPO_TYPE = <FIPO mode>
<FIPO mode>
K factor (servo gain)
V
In order that few contour deviations occur in the continuous-path mode, a high servo gain factor
(K ) is necessary:
V
MD32200 $MA_POSCTRL_GAIN[n]
However, if the servo gain factor (K
impermissible high loads on the machine will result.
The maximum permissible servo gain factor (K
● Design and dynamics of the drive
(rise time, acceleration and braking capacity)
● Machine quality
(elasticity, oscillation damping)
● Position control cycle or speed control cycle for active DSC
The servo gain factor (K
Dynamic response adaptation
Axes that interpolate with one another, but with different servo gain factors (K
the same following error using the dynamic adaptation function. This allows an optimum
contour accuracy to be achieved without loss of control quality by reducing the servo gain
factors (K
The function is activated via:
MD32900 $MA_DYN_MATCH_ENABLE = 1 (dynamic response adaptation)
The dynamic response adaptation is realized by entering a new equivalent time constant. It is
calculated from the difference in the equivalent time constant of the dynamically weakest axis
and the axis to be adapted:
MD32910 $MA_DYN_MATCH_TIME [n] = <difference in the equivalent time constant>
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Meaning
1 Differential fine interpolation with mean value generation (smoothing) over an IPO
cycle
2 Cubic fine interpolation
3 Cubic fine interpolation optimized for use with the pre-control for the highest contour
precision
) is defined as:
V
) to the dynamically weakest axis.
V
) is too high, instability, overshoot and possibly
V
) depends on the following:
V
Function Manual, 06/2019, A5E47437747B AA
) can be set to
V
Axes and spindles