Position Controller, Position Setpoint Filter: Phase Filter - Siemens SINUMERIK 840D Function Manual

Control response with POWER ON, RESET, REPOS, etc.
In the case of POWER ON and RESET, as well as with "Enable machine data", the setting data
of the feedforward control is read in again (see the appropriate values of the relevant machine
data).
Mode change, block search and REPOS have no influence on the feedforward control.
2.6.2

Position controller, position setpoint filter: Phase filter

Function
The axis-specific phase filter setpoint (dead time / delay) implements a pure phase shifter with
which the setpoint phase response can be influenced. Together with the axis-specific jerk filter
setpoint (MD32402_$MA_AX_JERK_MODE[<axis>] = 2; see Function Manual "Axes and
Spindles", Section "Jerk filter") it is possible to adapt the amplitude response and the phase
response independently of one another to the dynamically weakest of several axes, which
should proceed along a programmed path together.
①
②
Figure 2-13
Parameterization: Time constant
The time constant for the axis-specific phase filter setpoint can be set in the range:
(0 to 64) * position controller cycle clock (MD10061 $MN_POSCTRL_CYCLE_TIME)
The value of the time constants must be entered in seconds [s] in the machine data:
MD32895 $MA_DESVAL_DELAY_TIME[<Axis>]
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
G2: Velocities, setpoint / actual value systems, closed-loop control
Position controller cycle clock: 2 ms
Time constant of the axis-specific phase filter setpoint: 19.2 ms
Effect of the axis-specific phase filter setpoint
2.6 Optimization of the control
81