Commissioning - Siemens SINUMERIK 840D Function Manual

G2: Velocities, setpoint / actual value systems, closed-loop control
2.5 Closed-loop control
Parameterization
Select two filter types in order to switch between the two filter circuits from the part program:
● The jerk filter type of the first filter circuit is selected in the "Ones position" of machine data
MD32402 AX_JERK_MODE, and the associated filter settings are set in index 0 of the
machine data to parameterize the filter.
● The jerk filter type of the second filter circuit is selected in the "Tens position" of machine
data MD32402 AX_JERK_MODE, and the associated filter settings are set in index 1 of the
machine data to parameterize the filter.
● The following machine data has two indices:
– MD32402 AX_JERK_FIR_FREQ
– MD32408 AX_JERK_FIR_ORDER
– MD32409 AX_JERK_FIR_WINDOW
– MD32410 AX_JERK_TIME
– MD32411 AX_JERK_TIME_ADD
– MD32412 AX_JERK_FREQ
– MD3414 AX_JERK_DAMP
Boundary conditions
Filter circuits can only be parameterized if the following conditions are satisfied:
● MD33000 $MA_FIPO_TYPE = 1 or 3
● MD32220 $MA_POSCTRL_INTEGR_ENABLE = 0
● MD32930 $MA_POSCTRL_OUT_FILTER_ENABLE = 0
● MD32610 $MA_VELO_FFW_WEIGHT = 1.0
● MD32620 $MA_FFW_MODE = 0, 3 or 4
● MD32648 $MA_SPLINES_CONTROL_CONFIG = 0
2.5.3

Commissioning

Switching over filter circuits
Select two filter types to preassigned filter types for the filter circuits. To switch over the
parameterized filter circuits, use the system variable
$AA_DESVAL_FILTERS_SELECT[<axis>].
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Axes and spindles
Function Manual, 06/2019, A5E47437747B AA