Siemens SINUMERIK 840D sl Function Manual page 447

2.4 Closed-loop control
2.4.1 General
Position control of an axis/spindle
The closed-loop control of an axis consists of the current and speed control loop of the drive
plus a higher-level position control loop in the NC.
The speed and current control systems for SIMODRIVE 611 are described in:
References:
/IAD/"Installation & Startup Guide" SINUMERIK 840D/611D digital
/IAC/"Installation & Startup Guide" SINUMERIK 810D
/PJU/"Planning Guide" Converters.
The basic structure of an axis/spindle position control is illustrated below:
Figure 2-12
For a description of the feedforward control, backlash, friction compensation with further
machine data, and leadscrew error compensation, see:
References:
/FB2/ Function Manual, Extended Functions; Compensations (K3).
For a description of jerk limitation, see:
References:
/FB1/ Function Manual, Basic Functions; Acceleration (B2).
Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
Additional servo parameter sets for position control
Detailed description
2.4 Closed-loop control
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