Position Controller: Injection Of Positional Deviation - Siemens SINUMERIK 840D Function Manual

Mc axes and spindles
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2.6.3

Position controller: injection of positional deviation

Preconditions
● The function can only be used on axes with two encoders:
MD30200 $MA_NUM_ENCS = 2
One of the encoders must be parameterized as an indirect measuring system and the other
as a direct measuring system:
– Direct measuring system:
– Indirect measuring system:
● Telegram type 136 or 138 must be configured as standard telegram type for PROFIdrive
both in the drive and also in the NC (MD13060 $MN_DRIVE_TELEGRAM_TYPE).
Function
For active injected positional deviation, the difference position between the direct and the
indirect measuring system of an axis is determined and in accordance with the weighting-factor
setting is applied as additional current setpoint for the feedforward control in the position control
cycle. The resulting oscillation damping improves the stability and positioning behavior of the
axis.
Application
The function is used for axes with strong tendency to vibrate.
Effectiveness
The function acts only for axes with small natural frequency (to approximately 20 Hz).
Activation/parameterization
The function is activated by specifying the weighting factor:
MD32950 $MA_POSCTRL_DAMPING (damping of the speed control loop) = <value>
Value range: -100% ... +100%
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
G2: Velocities, setpoint / actual value systems, closed-loop control
MD31040 $MA_ENC_IS_DIRECT[1]=1
The encoder for position actual-value acquisition is connected directly to the machine
(load encoder).
MD31040 $MA_ENC_IS_DIRECT[0]=0
The encoder for position actual-value acquisition is located on the motor (motor
encoder).
2.6 Optimization of the control
83

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