Siemens SINUMERIK 840D Function Manual page 888

S3: Synchronous spindle
19.4 Special features
In such cases, higher threshold values for the synchronism signals and larger position and/or
speed tolerances result in more stable results.
Dynamic response adaptation
To obtain a good control behavior, FS and LS must have the same dynamic response. The
following error for FS and LS must be equal at any given speed. For dynamically different
spindles, a matching via the dynamic response adaptation can be achieved in the setpoint
branch. The difference of the equivalent time constants between the dynamic "weakest"
spindle to the associated other spindle must be entered as time constant of the dynamic
response adaptation.
Example
When the speed feedforward control is active, the dynamic response is primarily determined by
the equivalent time constant of the "slowest" speed control loop.
● Equivalent time constant LS: MD32810 $MA_EQUIV_SPEEDCTRL_TIME[<LS>] = 5 ms
● Equivalent time constant FS: MD32810 $MA_EQUIV_SPEEDCTRL_TIME[<FS>] = 3 ms
● Time constant of dynamic response adaptation for FS: MD32910
$MA_DYN_MATCH_TIME[<FS>] = 5 ms - 3 ms = 2 ms
● Activation of the dynamic response adaptation for FS: MD32900
$MA_DYN_MATCH_ENABLE[<FS>] = 1
The following error for FS and LS is identical for correctly set dynamic response adaptation:
Operating area "Diagnostics" > "Service axes"
For the optimization, it may be necessary to adjust servo gain factors or feedforward control
parameters slightly.
Position control parameter sets
In the case of spindles, each gear stage is assigned a position-control parameter set. These
parameter sets can be used to adapt the dynamic response for LS and FS in synchronous
operation. This requires that a different gear stage is used for speed and positioning operation
and synchronous operation. The associated gear stage must be switched before activating the
associated operating mode.
Control parameters
The following control parameters must be set identically for the FS and LS:
● MD33000 $MA_FIPO_TYPE (fine interpolator type)
● MD32400 $MA_AX_JERK_ENABLE (axial jerk limitation)
● MD32402 $MA_AX_JERK_MODE (filter type for axial jerk limitation)
● MD32410 $MA_AX_JERK_TIME (time constant for the axial jerk filter)
● MD32412 $MA_AX_JERK_FREQ (blocking frequency of the axial jerk filter)
● MD32414 $MA_AX_JERK_DAMP (damping of the axial jerk filter)
● MD32420 $MA_JOG_AND_POS_JERK_ENABLE (release jerk limitation)
● MD32430 $MA_JOG_AND_POS_MAX_JERK (axial jerk)
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Axes and spindles
Function Manual, 06/2019, A5E47437747B AA