Siemens SINUMERIK 840Di Function Manual page 426

Detailed Description
2.4 Closed-loop control
Servo gain factor (K
v-
Fig. 2-13
Dynamic response adaptation
The purpose of dynamic response adaptation is to set an identical following error for axes
with different servo gain factors (K
with each other can thus be achieved without reduced control quality. A high servo gain
factor (K
suppression of the axis.
The function is activated via machine data:
MD32900 $MA_DYN_MATCH_ENABLE (dynamic response adaptation).
Axes are adapted via machine data:
MD32910 $MA_DYN_MATCH_TIME[n] (dynamic response adaptation time constant).
With this MD, the equivalent time constant of the position control loop of the axes with a
higher servo gain factor (K
The difference between the equivalent time constants of the "slowest" control loop and the
relevant axis is entered in machine data:
MD32910 $MA_DYN_MATCH_TIME[n].
Example of dynamic response adaptation of axes 1, 2 and 3 (without speed feedforward
control):
The equivalent time constant of the position control loop is as follows:
For axis 1:
For axis 2:
For axis 3:
⇒ Axis 1 is dynamically the slowest axis
2-52
) setting for SINUMERIK 840D/810D
Dynamic response adaptation
) for an axis can be maintained, which guarantees optimum disturbance
v
). The optimum contour accuracy for axes interpolating
v
) is matched to the axis with the lowest servo gain factor (K
v
30 ms
20 ms
24 ms
Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
).
v