Siemens SINUMERIK 840D Function Manual page 82

G2: Velocities, setpoint / actual value systems, closed-loop control
2.6 Optimization of the control
Example: Position controller cycle clock: 2 ms ⇒ adjustable time constant: 0.0 to 0.128 s
Note
The time constant of the phase filter setpoint delays the axis' response characteristics for
tapping, retractions, and exact stops / block changes, etc. It is therefore recommended to set
the time constant as low as possible.
Limiting to a maximum value
A greater time constant than the permitted maximum value (64 * position controller cycle clock)
is limited internally to the maximum value. No message / alarm is displayed.
Parameterization: Activation
The function of the axis-specific phase filter setpoint must be activated with the following
machine data:
MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = "TRUE"
Examples
Assumption: Position controller cycle clock = 2 ms
1. MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = "FALSE"
MD32895 $MA_DESVAL_DELAY_TIME[<Axis>] = <Time constant>
– Phase filter setpoint: Not active
– Time constant: Irrelevant
2. MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = TRUE
MD32895 $MA_DESVAL_DELAY_TIME[<axis>] = 0.002
– Phase filter setpoint: Active
– Time constant: 2 ms ⇒ the setpoint output is delayed by a position controller cycle clock.
3. MD32890 $MA_DESVAL_DELAY_ENABLE[<Axis>] = TRUE
MD32895 $MA_DESVAL_DELAY_TIME[<axis>] = 0.256
– Phase filter setpoint: Active
– Set time constant: 256 ms;
Boundary conditions
SINUMERIK Safety Integrated
The phase filter setpoint delays the output of axis-specific setpoints; e.g. for retractions (ESR
for Stop E). However, the phase filter setpoint has no influence over shutdown processes; e.g.
the SBH activation time.
82
maximum possible time constant: 64 * 2 ms = 128 ms
⇒ internally effective time constant: 128 ms
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA