Siemens SINUMERIK 840D sl Function Manual page 530

T4: Automatic retuning with AST - only 840D sl
12.3 Programming
ID Meaning
021 Amplitude of the excitation
022 Velocity offset
Speed control (controller)
031 Proportional gain for the speed control loop
032 Integral time for the speed control loop
033 Motor moment of inertia
034 Total moment of inertia of the axis expressed in
the units of the motor
035 Specifies whether the reference model is activa‐
ted for the speed control
036 Frequency of the PT2 reference model
037 Damping of the PT2 reference model
038 Ratio of the Kp proportional gain to the moment
of inertia that represents the 1/s bandwidth of the
idealized PT1-equivalent (proportional-control‐
led) systems
Position control (controller)
101 Position control loop gain
102 Specifies whether DSC (dynamic stiffness con‐
trol) is active
103 Specifies the precontrol type:
● 0 = none
● 1 = speed precontrol
● 2 = speed and torque precontrol
104 Total moment of inertia of the axis as parameter
for the torque precontrol
105 Delay of the speed precontrol in the drive (e.g.
p1429)
106 Equivalent time constant of the speed control
loop as parameter for the speed precontrol
107 Adapted parameter value 106 for considering
the following effects:
● Inconsistent delays
● Changes by the NCK
530
Unit Data Value range
type
Nm, N, m/ Dynamic
s, rad/s,
m, rad (de‐
pending
on the
measur‐
ing type)
m/s or rad/ Dynamic
s
Nms/rad
or Ns/m
s
kgm
2
or kg
kgm
2
or kg
BOOL 0 (= FALSE)
1 (= TRUE)
Hz
1/s
1000/min
BOOL 0 (= FALSE)
1 (= TRUE)
0, 1, 2
kg m
2
or kg
s
s
s
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Write Read
with with
CYCLE758 CYCLE759
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Special functions